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We have proposed a new leg-wheel hybrid mobile robot named "Roller-Walker". Roller-Walker is a vehicle with a special foot mechanism which changes to a sole in walking mode and a passive wheel in skating mode. On rugged terrain the vehicle walks in leg mode, and on level or comparatively smooth terrain the vehicle makes,wheeled locomotion by roller-skating using the passive wheel. The characteristics of Roller-Walker are: 1) it has a hybrid function but is lightweight 2) it has the potential capability to exhibit high terrain adaptability in skating mode if the control method for roller-walking is fully investigated in the future. In this paper, the 2-leg trajectory for straight roller-walking is optimized in order to achieve the maximum constant velocity. Also a changeable ankle mechanism was integrated into the Roller-Walker system. Experiments were performed to demonstrate the validity of the concept of Roller-Walker and the results of straight roller-walk experiments are compared with those derived through simulation.
Endo et al. (Mon,) studied this question.
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