The problems of the walking machines fabricated up to now include the low walking speed, poor load capacity.
This study, one of the four sub-study of the walking robot, put emphasis on improving the walking speed and energy efficiency by the optimal design of the leg, velocity profile and motor torque. This study also consider the deflection of the leg due to the payload which is designed less than 5mm.
It is required more study on the problems such as dynamic gait, self contained robot, installation of manipulator and high payload.