"Among the Mechamo series robots, the mechanism of this Crab is
the most complex one in which a variety of link mechanisms are
installed. It moves in parallel without moving up and down and
raises only the tips of legs to go over obstacles just like a crab."
"The legs of an Inchworm consists of three parts: fore legs, hind legs,
and center legs. When you observe the points of contact to the
ground, you can see there are two patterns: the fore legs and the
hind legs are touching the ground and the center legs are in the air
while the machine is moving, and only the center legs are touching
when the fore legs and the hind legs go back their positions or while
it is making a change of direction. The Inchworm moves by
repeating these two patterns by turns. It moves horizontally and not
as vertically as possible by using link mechanisms so that it
consumes minimum energy to move."