抄録
We have developed a quadruped walking robot TITAN XII equipped with active ankle to go over large obstacles. Although it has high terrain adaptability, it is not able to move quickly. In this paper, we consider to attach active wheel to the tip of the leg of TITAN XII to achieve high mobility and energy efficiency on not only horizontal ground but also uneven terrain. As the first step, we confirm that TITAN XII can generate basic wheeled locomotion on the horizontal ground by experiments.
