{
  "abstract": "A quadrupedal walking robot includes: a main body; four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints; a plurality of joint actuators configured to drive a plurality of the joints; a traveling device configured to protrude from the main body in a down direction of the main body and configured to operate so as to come into contact with a support surface supporting the quadrupedal walking robot and to move the quadrupedal walking robot in a state of being in contact with the support surface; and a controller configured to control operations of the plurality of joint actuators and the traveling device.",
  "assignees": [
    "KAWASAKI HEAVY IND LTD"
  ],
  "authors": [
    "KAMON MASAYUKI",
    "KATO TATSUHIKO",
    "YUKIZAKI SO"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000001903",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 119
  },
  "figures": [],
  "files": [
    {
      "bytes": 9662,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "aaf77b108de64e51212edb9abb0157b45250d5cbf8cd85c08f8ff709f249b72c"
    },
    {
      "bytes": 1101,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "268ea80776c19b3c26eb6b03e7c2500521b8b16e579f8d0a73d83637eab60f78"
    },
    {
      "bytes": 1221,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "939eaca4844883162d820be1bb9bd88cafe226e8a80739ec130ed07d2cb8526d"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000001903/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j5/00",
    "b62d57/028",
    "b62d57/032",
    "b62d57/032",
    "b25j13/006",
    "b25j13/08"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000001903",
  "published_at": "2026-09-15T19:09:24.654802Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-03-17",
  "source_id": "US-12576931-B2",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US12576931B2",
  "supersedes": null,
  "title": "Quadrupedal walking robot",
  "uuid": "01a0a679-552e-7954-8f3d-bd561343282d"
}