Abstract
An effectiveness of leg-wheel robots is obvious that it has two point that walking scheme for legged robots, and high payloads in the wheel move. In this paper, we introduce the leg-wheeled hybrid mobile robot and derivative for the load of leg and the load sharing ratio of leg, and suppose how to control with it. The rotation angle and speeds of the wheel make errors between actual value and desired value when he machine runs on rough terrain. We can derive the load of leg with this errors. So we derive the load with the values from the sensors equipped with the machine, when we compare with flat and rough terrain. The values of sensors used derivative for the load of leg are encoders equipped with each wheels and current sensors in each motor-drivers, which show the rotation angle and speeds of the wheel.
