| 摘要 |
PURPOSE: A driving algorithm of a hybrid type driving robot and a robot capable of accepting the wheel driving method and a four-feet walking method at the same time, are provided to mix the four-feet walking algorithm capable of the CCW-CW rotation, forward moving and backward moving, and the wheel driving algorithm capable of the CCW-CW rotation, forward moving, backward moving, and a slash driving, thereby receive minimum disturbance of the geographical feature. CONSTITUTION: A hybrid type driving method is designed to have the wheel driving and walking of the robot at the same time, and has an ability to avoid the obstacle. The robot capable of hybrid type walking incorporating the hybrid type driving method comprises a sensor(102), a leg part(110), and a wheel(210). The sensor has the function of sensing the obstacle. The leg part makes the four-feet walking possible. The wheel makes the wheel driving possible. The body(100) comprises the central processing unit, and the wireless communication apparatus. The leg part X-axis joint(110) and the leg part Z-axis joint(105) are individually operated. The main sensor is used to determine whether or not to switch the mode, and the sub sensor(103) is used to avoid the obstacle.
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