2A2-C01 Stair Climbing of Quadrupedal Wheeled Robot with 2 Wheels Per 1 Leg(walking Robot)

We are developing the autonomous mobile robot that assumes the application of guide dog and service dog. We designed a robot having 4 legs and wheels. The robot can move by wheels on the level ground and move by legs on the rough terrain. But the robot with wheels was not more stable than the robot with only foots. So we designed a robot having 4 legs and 8 wheels. In this paper, it reports that it is possible to walk more stable and faster by applying 2 wheels per 1 leg.