There is achieved a traveling robot configured to travel by switching between leg driving and wheel driving while suppressing a decrease in velocity in switching between the leg driving and the wheel driving. The traveling robot includes a drive unit, a clutch configured to switch a transmission destination of a driving force from the drive unit, a leg and a wheel that are configured to be driven by the driving force from the drive unit, and a control unit. The control unit executes, in drive switching between leg driving and wheel driving, travel velocity control before the drive switching such that a travel velocity after the drive switching is substantially equal to a travel velocity before the drive switching. The control unit sets, in the drive switching between the leg driving and the wheel driving, a sliding movement state in which the wheel is caused to slide in a non-driven state. The control unit executes, in the drive switching, acceleration processing before the drive switching such that a travel velocity after the drive switching is substantially equal to a travel velocity before the drive switching.

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 nuclear emergency multifunctional operation robot includes a base, a mechanical arm, a tool change-over device, and motion supporting devices. The base includes a pedestal, a mounting seat A, a mounting seat B, a mounting seat C, a rotation driving mechanism A, and a rotation driving mechanism B. The front end of the mechanical arm is connected to the mounting seat B; the tool change-over device includes a male connector and a female connector which are abutted with or separated from each other; and the motion supporting devices are used to drive the nuclear emergency multifunctional operation robot to move. The present disclosure has the advantages that the base can be integrated with various end tools, so that the operation robot conveniently changes over tools according to operation needs to conduct various types of operations.

According to an embodiment, 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.

According to an embodiment, 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.

A robotic leg includes a hip, a first pulley attached to the hip and defining a first axis of rotation, a first leg portion having a first end portion and a second end portion, a second pulley rotatably coupled to the second end portion of the first leg portion and defining a second axis of rotation, a second leg portion having a first end portion and a second end portion, and a timing belt trained about the first pulley and the second pulley for synchronizing rotation of the first leg portion about the first axis of rotation and rotation of the second leg portion about the second axis of rotation. The first end portion of the first leg portion is rotatably coupled to the hip and configured to rotate about the first axis of rotation. The first end portion of the second leg portion is fixedly attached to the second pulley.

A support device includes a wheel, a base member, a leg coupled to the wheel and the base member, the leg including an upper leg segment, a lower leg segment positioned below the upper leg segment, a joint positioned between the upper leg segment and the lower leg segment, and an actuator engaged with the upper leg segment and the lower leg segment, where the actuator includes a linear engagement member that is engaged with one of the upper leg segment and the lower leg segment, a cammed member defining a non-circular perimeter engaged with the linear engagement member, and a motor engaged with the linear engagement member through the cammed member

A wall-climbing drone using an auxiliary arm and a method for controlling therefore are disclosed. The wall-climbing drone according to an example of embodiments includes at least one front wheel for moving a drone on a wall by being attached on one surface of a body in contact with the wall and controlling rotation by a wall-climbing motor; an auxiliary arm including a link having one degree of freedom connected to a part of the body and changing an angle and an auxiliary wheel attached to an end of the link; a power transmission system for controlling power transmission by connecting a belt between the body and the auxiliary arm and using the belt; and a controlling unit for controlling propulsion force of each of at least one propellant according to an angle between the auxiliary arm and the body in a state attached to the wall, controlling power transmission of the power transmission system, and controlling movement of the drone by controlling rotation of the motor.

A wall-climbing drone using an auxiliary arm and a method for controlling therefore are disclosed. The wall-climbing drone according to an example of embodiments includes at least one front wheel for moving a drone on a wall by being attached on one surface of a body in contact with the wall and controlling rotation by a wall-climbing motor; an auxiliary arm including a link having one degree of freedom connected to a part of the body and changing an angle and an auxiliary wheel attached to an end of the link; a power transmission system for controlling power transmission by connecting a belt between the body and the auxiliary arm and using the belt; and a controlling unit for controlling propulsion force of each of at least one propellant according to an angle between the auxiliary arm and the body in a state attached to the wall, controlling power transmission of the power transmission system, and controlling movement of the drone by controlling rotation of the motor.