Abstract
This paper proposes a mechanism and control of a wheeled skid-steering mobile robot equipped with six feet for each wheel. Front and rear feet on one side are grouped into two. First one is odd numbered and second one is even numbered. Same things are said in other side. Therefore, the robot has 6 degrees of freedom (DOFs) totally. We consider robot controls for progressing and steering by rolling and walking since cooperative control of feet and wheel makes various movements on a terrain to cope with obstacles. Particularly, angular values of hip and knee joints are investigated in the two feet groups for stepping up or stepping over obstacles. These motions are demonstrated by the robot, PEOPLER-IV on a practical field for verifying that the proposed cooperative controls are useful.
