An apparatus includes a robot has an effector head and a motorized wheel coupled to the effector head. The wheel is configured to roll the effector head along a roll axis of a surface. The robot also has a foot, coupled to the effector head, that is operable to walk the effector head along a step axis that is orthogonal to the roll axis. To walk the effector head, the foot engages the surface, lifts the wheel from the surface and while the wheel remains lifted from the surface, advances the effector head along the step axis. The wheel is then returned to the surface, and the foot disengages from the surface. Other embodiments are also described.

A vehicle including a frame, a plurality of controls coupled to the frame which in response to input from a pilot provides signals, and a plurality of legs coupled to the frame. Each respective leg in the plurality of legs includes one or more bodies, a proximal end rotatably coupled to the frame, and a distal end. The vehicle further includes a plurality of actuators associated with the plurality of legs communicatively coupled to the plurality of controls. A respective actuator in the plurality of actuators moves in response to a signal from a respective control in the plurality of controls, the respective actuator in the plurality of actuators is associated with a respective leg in the plurality of legs, and in response to the motion of the respective actuator, the respective leg in the plurality of legs changes between a first pose characterized by a first position of the distal end of the respective leg and a second pose characterized by a second position of the distal end of the respective leg.

A vehicle including a frame, a plurality of controls coupled to the frame which in response to input from a pilot provides signals, and a plurality of legs coupled to the frame. Each respective leg in the plurality of legs includes one or more bodies, a proximal end rotatably coupled to the frame, and a distal end. The vehicle further includes a plurality of actuators associated with the plurality of legs communicatively coupled to the plurality of controls. A respective actuator in the plurality of actuators moves in response to a signal from a respective control in the plurality of controls, the respective actuator in the plurality of actuators is associated with a respective leg in the plurality of legs, and in response to the motion of the respective actuator, the respective leg in the plurality of legs changes between a first pose characterized by a first position of the distal end of the respective leg and a second pose characterized by a second position of the distal end of the respective leg.

According to an embodiment, a robot includes a supporter disposed in the lower portion of a body to be spaced apart from a rear joint and a front joint and having a length shorter than a length of the rear joint and a length of the front joint; and a processor configured to perform a rear joint raising mode when a moved distance of the body is within a set distance or the body is stationary during driving of a front drive motor, and the rear joint raising mode is a mode in which a rear joint motor raises the rear joint such that a rear wheel which is connected to the rear joint is spaced apart from the ground.

According to an embodiment, a robot includes a supporter disposed in the lower portion of a body to be spaced apart from a rear joint and a front joint and having a length shorter than a length of the rear joint and a length of the front joint; and a processor configured to perform a rear joint raising mode when a moved distance of the body is within a set distance or the body is stationary during driving of a front drive motor, and the rear joint raising mode is a mode in which a rear joint motor raises the rear joint such that a rear wheel which is connected to the rear joint is spaced apart from the ground.

A mobile platform intended for civilian, industrial, research or other use. An ambulation system or mobile platform such as for traveling over uneven terrain includes one or more leg arrangements attached to a main body or chassis. In an embodiment, a leg arrangement comprises one or more legs, such as legs that rotate in the same and singular direction around their respective rotary joints when the vehicle is moving in a single direction. The rotational axis for both legs is located near each other and preferably coaxially and allows ground contact of two or more legs at all times.

A mobile platform intended for civilian, industrial, research or other use. An ambulation system or mobile platform such as for traveling over uneven terrain includes one or more leg arrangements attached to a main body or chassis. In an embodiment, a leg arrangement comprises one or more legs, such as legs that rotate in the same and singular direction around their respective rotary joints when the vehicle is moving in a single direction. The rotational axis for both legs is located near each other and preferably coaxially and allows ground contact of two or more legs at all times.

A robot includes a main body, a handlebar disposed on the main body and grippable by a user, a detection unit that detects a load applied to the handlebar, a moving device including a rotating body and moving the robot by controlling the rotation of the rotating body, and a switching unit that switches a support mode for supporting the user with walking. The support mode includes a first mode in which the robot autonomously moves to guide the user who is walking and a second mode in which the robot moves in accordance with a first load detected by the detection unit. When the robot moves in the first mode, the switching unit switches the support mode from the first mode to the second mode on the basis of the second load detected by the detection unit.

A robot includes a main body, a handlebar disposed on the main body and grippable by a user, a detection unit that detects a load applied to the handlebar, a moving device including a rotating body and moving the robot by controlling the rotation of the rotating body, and a switching unit that switches a support mode for supporting the user with walking. The support mode includes a first mode in which the robot autonomously moves to guide the user who is walking and a second mode in which the robot moves in accordance with a first load detected by the detection unit. When the robot moves in the first mode, the switching unit switches the support mode from the first mode to the second mode on the basis of the second load detected by the detection unit.

A transport device includes: a vehicle body including a fork portion that supports a load, a lift portion that drives the fork portion up and down, a movable carriage portion that supports the lift portion, and is movable on a traveling surface by driving a drive wheel, and an auxiliary leg portion that is provided in the movable carriage portion, is movable along a longitudinal direction of the fork portion, and has an auxiliary wheel having a variable position with respect to the movable carriage portion; and a control unit that, in a case where a step is present on the traveling surface, controls operations of the lift portion, the movable carriage portion, and the auxiliary leg portion such that the movable carriage portion climbs the step, based on the position of the center of gravity calculated by a calculation unit.