This paper describes development of a mobile robot using semicircular wheels on uneven terrain. It performs the crawl gait on flat ground without changing potential energy and the butterfly gait to climb over debris. We also used crawl gait to perform turning motion. The butterfly gait is used to climb over high steps. Turning motion is achieved not only by creating a difference in angular velocity between the wheels on both sides, but also by keeping the crawl gait. We achieved continuous movement from turning motion to pivot turning. We conducted an experiment on the movement and turning motion on flat ground using crawl gait.

中文翻译：

---

新型半圆形移动机器人的研制

本文介绍了在不平坦地形上使用半圆形轮子的移动机器人的开发。它在平坦的地面上执行爬行步态，而不会改变势能，而蝴蝶步态则可以爬过碎屑。我们还使用爬行步态执行转弯运动。蝴蝶步态用于爬高台阶。不仅通过在两侧车轮之间产生角速度差，而且通过保持爬行步态来实现转弯运动。我们实现了从转动到枢转的连续运动。我们使用爬行步态在平坦地面上进行了运动和转弯运动的实验。