Abstract
This study shows a position control method of a six-wheel leg robot. A purpose of this study is to move a robot on the surface of the piping, and to inspect. The system of the robot is composes of main body, control substrate, control PC. This robot has mechanism that can move in all directions using six wheels consisting of differential gear unit. Also this study shows geometrical relation between the six wheel's direction and the rotation center. Furthermore, this study shows the experimental result of turn motion using steers front wheel and a rear wheel.
