Abstract
Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The passive wheel can be transformed into a sole mode by rotating the ankle roll joint when Roller-Walker walks on rough terrain. This paper proposes a velocity increase method by the vertical leg movement in order to adjust weight distribution of the leg in accordance with a proper phase of the cyclic horizontal leg movement. We carried out hardware experiments and confirmed slight velocity increase.
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