Abstract
The Roller-Walker is one of wheel-legged hybrid mobile robots. It has passive wheels on the tip of each leg and locomotes by the similar principle of the roller skating. The motion of the Roller-Walker is able to be discussed as a system with nonholonomic constraints by assuming each wheel does not slip sideways. In this paper, a two legged Roller-Walker is considered, and we derive the condition for generating a straight motion and a pivot turn motion based on the nonholonomic velocity constraint of wheels. Moreover, we developed a two legged Roller-Walker, and a straight motion, a pivot turn motion and a right or left turn motion are achieved by experiments.
