Study of locomotion on irregular terrain about trackchangeable walking machine

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This study has conducted to improve a locomotion on irregular terrain of track-changeable walking machine. Fundamental theoretical considerations and several experiments have conducted. As for the theoretical considerations, (1) switch motion of mobile mode, (2) hybrid motion by the combination of track and leg, are examined using dynamics simulator. They are evaluated from viewpoints of required time, static stability, and energy consumption. As for the experimental discussion, the switch motion and the hybrid motion are realized using improved prototype machine. The prototype succeeded in performing the hybrid motion and climbing up a large step that it could not by only track mechanism.