Abstract
Locomotion on the uneven floor which is typicaly located in the nuclear power plants is a very interesting matters, so, many works have recently been conducted.
Since crawlers are used for the typical locomotion method, for the first step, we have evaluated the principle movement of crawler through several kinds of experiments. And we have propsed a new type vehicle. This vehicle has four legs with two jnints, two driving wheels under the body and four drive supporting wheels at the end of each legs. It has accomplished not only high mobility on the flat floor by driving wheels but also high stability on the uneven floor by walking, as well as, easy control by creeping mode locomotion. We have already done basic experiments and are conduct-ing to improve the reliability which is supported by sensors and its intelligent application.
