| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg-wheel type mobile robot which can carry out posture changing operation, based on high-gain local position feedback control without generating excessive stress in the robot, and to provide an operating method and a program for the robot. SOLUTION: The leg-wheel type mobile robot 10 is formed of: a main body 1; a plurality of legs 3, 5 which are rotatably connected to the main body 1, and expandable/contractible or foldable; and a plurality of driving motors for driving the respective legs 3, 5 for rotational operation, and expanding/contracting or folding operation. Each of the legs 3, 5 has wheels 9 attached to a leg tip portion, for making contact with a ground contact surface, and rotatably moving on the ground contact surface, and a brake for braking rotation of the wheels 9. When the posture of the main body 1 is changed by controlling the driving motors, at least one of the brakes provided for the legs 3, 5 is set in a non-operable mode, and stress stored in the robot due to posture change of the main body 1 is released to the outside via the leg at which the wheels 9 are rotatably movable. COPYRIGHT: (C)2007,JPO&INPIT
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