| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg-wheel type mobile robot which can ease a horizontal component of an impact load received when a leg lands on a ground contact surface without complicating the structure of a leg tip portion, and to provide an operating method 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 connected to the main body so as to be rotatable about respective horizontal axes in a manner being swingingly advanced by turns in a traveling direction, and expandable/contractible or foldable; and a plurality of driving motors for driving the respective legs 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 device for braking rotation of the wheels 9. Herein, in order to make the wheels 9 of the legs 3, 5 rotatable at the time of landing, the brake devices for the legs 3, 5 are set in a non-operable mode before the legs 3, 5 make contact with the ground contact surface. COPYRIGHT: (C)2007,JPO&INPIT
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