To provide a leg wheel type robot capable of achieving stable walking, and suitable for restraining an increase in weight and energy consumption.
This leg wheel type robot 100 has a base body 10, a leg part 12 connected to the base body 10 with a degree of freedom, a driving wheel 20 rotatably arranged in a leg part 12, a joint motor 40 imparting motive power for driving the leg part 12, and a reduction gear connected to a rotary shaft of the driving wheel 20 and setting braking torque to a predetermined value or more. In walking control of the leg part 12 performed by control of the joint motor 40, the leg part 12 is grounded by inclining the rotational direction of the driving wheel 20 in the moving direction of the leg wheel type robot 100.
HIDA KAZUTERU
Yoshiaki Naito
Cui Shu Tetsu