| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg-wheel type mobile robot which maintains a constant step length without being influenced by slippage of a sole during walking, error of step lengths, and geometric error of stairs themselves, and carries out stable walking of a number of stairs, and to provide a stair walking method for the robot. SOLUTION: There is provided the stair walking method for the leg-wheel type mobile robot 10 which walks by swingingly advancing a plurality of support legs 14, 16 by turns, that are expandable/contractible or foldable as a support leg and a swing leg, and travels on a flat ground by wheels 21 of an ankle/wheel driving section 18 arranged at a lower edge of the support leg. According to the method, a correction period in which translational movement is carried out by the ankle/wheel driving sections 18 until they reach predetermined locations fitted for the next walking, is secured at every walking step or every several walking steps in a climbing up/down procedure. COPYRIGHT: (C)2007,JPO&INPIT
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