Abstract: Legged robots represent an alternative to the wheeled or banded platforms and several reasons can justify the development of such architectures. We previously realized two electro- pneumatical robots. We chose to develop an outdoor six-legged electro-hydraulic robot. Our aim was to provide an autonomy of 30 minutes and the capacity to move on terrains with obstacles (maximum 20 cm) and with up- or down-slopes of maximum 30$DGR@. A specific simulation software was used to design the general structure and the legs. The particular design features of the robot lie in a cross-architecture and the inversion of the rear legs. The platform is controlled by a Programmable Logic Controller coupled with the necessary electronic interfaces allowing the teleoperation and the transmission of video signals. Several gaits have been implemented in order to adapt the walk to the environment. Their stability and performances are related.!3
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