Fast walking of 3-leg-wheeled type mobile robot

摘要

We are developing a leg-wheeled type mobile robot to be able to move around indoors efficiently and fast. This robot can move by wheels when it stands with its legs apart in order to keep balance. In addition, this robot can go up and down the stairs by its legs like human dynamic walking. This paper describes the method of fast walking, self-containerization of robot and the results of experiment by this robot.