A Partner Robot Transforming to a Vehicle: CanguRo - Design, Development and Evaluation of Its In-Wheel Drive Unit with Cycloid Gear -

Toward the creation of a new relationship among people and robots, a partner robot, CanguRo, capable of self-traveling, human-following as well as transforming into a personal vehicle, is designed and developed. In this paper, concepts and features pursued on this model are overviewed. As a key component, then, its in-wheel drive unit with cycloid gear is focused, and design methodology and performance evaluation of the drive unit are fully discussed.