Abstract
We report a new type of locomotive robot which is able to avoid standing obstacles and to ascend and descend a flight of stairs. This locomotive robot is of the self-contained navigation type. The structures are composed of three portions : a main element attached to steering gears, the front and rear body. Thus, they are connected by the coupling rod. Each portion has some legs on both sides which are attached to wheels. Fundamentally, ascending/descending, level and steering motions allow the robot to ascend and descend spiral stair cases. Minimum turning radius is small compared to the previous type. We call this structure the leg-vehicle type. Our results show that stable locomotion of the robot can be attained.
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