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In this paper, we propose a practical method of multiple mobile robot navigation aimed at .the realization of service robots that deliver letters, parcels and documents in an ofice building. For robust execution of delivery tasks by mobile robots, navigation is important, and localization of robots is a key function for designing robust navigation. We developed a global positioning system for indoor mobile robots by using cameras distributed in the robots' working domain. This system can execute fast and accurate localization of mo-bile robots. By integrating the positioning system with a deadlock free navigation algorithm for multiple mobile robots, we implemented a successful autonomous service robot system.

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W e have been trying to induce a quadruped robot to walk dynamically on irregular terrain by using a neural system model consisting of a CPG (Central Pattern Generator) and reftexes. Xn this paper, we report on a newly developed quadruped robot, which contains a mechanism designed to make adaptive 3D space walking (pitch, roll and yaw planes) on irregular terrain be performed more simply. In 3D walking, a rolling motion is naturally generated in most gaits. B y having the rolling motion be the standard oscillation and making the CPGs of the legs be entrained with a rolling motion, we realized the stabilization of the gait at a constant walking speed, in spite of a n unbalanced gravity load between the fore and hind legs. W e also realized autonomous gait transition in changing walking speeds, by utilizing such rolling motion feedback to CPGs, in order to reduce energy consumption. Rolling motion feedback to CPGs contributes to gait stabilization in walking on irregular terrain as a tonic labyrinthine reflex f o r rolling. A t this moment, the robot succeeded in walking over several 2 0 irregular terrains by using CPGs, a flexor reflex and tonic labyrinthine reflexes f o r pitching and rolling. MPEG footage of these experiments can be seen at: http://www.kimura.is.uec.ac.jp.