A Hybrid Locomotion Vehicle(HLV) system is developed to overcome the handicap of other types of mobile robots(wheeled type and legged type). The vehicle has six locomotion devices, each of which has three degrees of freedom: leg lifting, wheel revoluting, and wheel steering. These hybrid locomotion devices enable flexible locomotion such as stepping over rises and going up and down stairs in a plant. In this study, kinematics and dynamics of the HLV are analyzed for plane motion and algorithms for a model based servo control are established. Computer simulation shows the path tracking perpormance of the control system.
