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    ETH (Switzerland) also developed a mobile platform  for
    rough terrain  [4].  It  has  two three-degrees  of  freedom
    legs and also has  two one-degree  of  freedom legs  that
    have a passive wheel at their  end.  Its number of  active
    degree of  freedom is eight.  Tohoku University (Japan)
    constructed a leg-wheel separation type robot [5].  It has
    two big  active wheels at the both  sides of  the body,  and
    four legs with  three joints at the both ends  of  the  body.
    Fourteen actuators are used for the robot.
    In this paper, classification  of  the  environment for
    mobile  robot  is  considered from  the  viewpoint  of
    locomotion  mechanism  at  first. In section  3,  a new
    locomotion mechanism is proposed, and a prototype robot
    that employs  the  mechanism  is  introduced. Section  4 describes moving algorithm  for  the prototype robot.
    Implementation of the algorithm is explained in section 5.
    2. Locomotion mechanism and environment
    Now we  consider classification of  the environment
    from the contact between locomotion mechanism and the
    ground. When terrain  is flat, the locomotion mechanism
    can always keeps contact with  the ground.  We call this
    kind  of  terrain continuous contact  locomotion
    environment.  In  this environment, conventional wheels
    and crawlers  are  available. Although  wheels  and
    crawlers have different locomotive capability,  both
    mechanisms always keep contact with  the ground during
    locomotion.  The trace of movement in this environment
    is  continuous lines. One  of  the causes  wheeled  or
    tracked vehicle cannot move is existence of obstacles like
    steps. We call the terrain that includes such obstacles
    discontinuous contact locomotion environment.  In order
    to move  in  this kind  of  environment,  robots  that have
    actively suspended wheels or  shape-changeable crawlers
    have been developed.  In this environment, a mechanism
    that switches the contact point  between  the  locomotion
    mechanism  and  the ground is essential. The  trace of  the
    movement is  line  segments. More serious environment
    is discrete contact  locomotion  environment.  In  this
    environment, continuous contact  between  locomotion
    mechanism and the ground is not allowed.  Locomotion
    mechanism has  to  support  and propel  the  robot  only by
    using discrete point contacts with  the ground.  Robots in
    this environment must be equipped with legs.  The trace
    is sequence of points.
    Our research target  is  locomotion  in  mountainous
    area,  and  it  is  considered as discontinuous contact
    locomotion environment.  To move over obstacles such
    as steps, legged  locomotion  is  effective.  However,
    legged mechanism has demerits also.  The mechanical
    configuration  is  complicated, and  it  requires large
    number of degrees of  freedom. Generally, three degrees
    of  freedom are necessary for each leg.  In  the case of  a
    quadruped, total number  of  actuator is  twelve.
    Moreover, moving  speed or  energy  efficiency  is  lower
    than  wheeled or  tracked  locomotion when  it moves  on
    relatively flat terrain.
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