关键词：光机电；机器人；多移动性
摘 要：In this chapter, three types of Gorilla Robots developed as the Multi-Locomotion Robot were described. Gorilla Robot was designed to be able to perform biped locomotion, quadruped locomotion, and brachiation etc. The hardware configuration of each Gorilla Robot and control system architecture were presented. In the subsequent chapters, Gorilla Robot is employed in some experiments.