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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems Acropolis Convention Center Nice, France, Sept, 22-26, 2008 Study on Roller-Walker – Adaptation of Characteristics of the propulsion by a Leg Trajectory – Gen Endo and Shigeo Hirose Abstract— Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tip of each leg. The pas- sive wheel can be transformed into sole mode by rotating ankle roll joints when Roller-Walker walks on rough terrain. This paper describes adaptation of characteristics of the propulsion by a leg trajectory in the case of wheeled locomotion. Firstly, the authors demonstrate that Roller-Walker could achieve high- speed propulsion and slope climbing propulsion by simply changing parameters of the leg trajectory on the hardware experiments. Secondly, an asymptotic parameter tuning method is introduced to perform speci?ed velocity on the different surfaces with different friction. The method is evaluated in numerical simulations. The results suggest that the method allows the Roller-Walker to have a function similar to an automatic transmission of a usual car. I. INTRODUCTION Fig. 1. Roller-Walker: the white lines show trajectories of the frontal leg ends and the body.(left), passive wheel in two modes(right)) A walking robot which can select discrete foot placements with articulated legs has potential capabilities: 1) it can the prototype robot of Roller-Walker. Roller-Walker equips move adaptively on rugged terrain, 2) it has higher energy with passive wheels on the tip of each leg, and the passive ef?ciency than a wheeled vehicle on soft deformable terrain wheel can be transformed into sole mode by rotating an- because it leaves discrete footprints whereas a wheeled vehi- kle roll joint when Roller-Walker walks on rough terr