Hybrid motions by a quadruped tracked mobile robot

We have developed a tracked mobile robot which is equipped with four legs at its body. This robot is able to not only move on rough terrain robustly, but also perform variety of working motions by using the legs as manipulation arms. This paper describes several possible leg-track hybrid working and movement motions. Specifically, we consider the motion of running over a gap and retrieving a target object under a big board. The retrieving motion is a typical example which represents working ability of this type of robot. Necessary joint torques were simulated in these motions based on statics. Several experimental results of these motions by the developed robot showed the ability of the robot in hybrid locomotion and work.