Abstract
As for the transportation using wheels, it is known that the efficiency is high and, mechanism and control system are simple. Therefore, the transportation using wheel is practical, and widespread. However, the wheel type movement has the difficulty in the rough terrain. In this research, a wheel type mobile robot "Zaurus" with six wheels in which is employed as the link mechanics was developed. In performance evaluation experiments, the climbing over the step twice the height of the diameter of the wheel was achieved. And, the control systems using Neural Network and PID were investigated.
