Abstract: Aiming at the moving requests of the miniature mobile robot under the environment of indoors and outdoors, a miniature track-wheel-legged mobile robot with multiple moving modes such as wheeled, tracked and legged locomotion is presented. The moving characters, obstacle negotiation capability and self-reposition function of the robot are analyzed in details. The embedded control system is adopted to ensure the robot to be with low power consuming, good reliability and high real-time character. The experiment results show that the mobile robot has high mobility, good environmental adaptability and obstacle negotiation ability.

Key words: Moving character, Obstacle negotiation, Locomotion mode, Mobile robot, Reposition