Mobile robot and front end tool

A mobile robot having a plurality of kinds of different moving forms, the mobile robot comprising:

• a body unit configured to include (i) front face and a back face which oppose each other, the front face and the back face being disposed in a thickness direction, (ii) a first body frame and a second body frame which are disposed in a length direction, and (iii) two body-side drive shafts provided between the first body frame and the second body frame;
• four limb units respectively disposed at a left-side face of the first body frame, a right-side face of the first body frame, a left-side face of the second body frame, and a right-side face of the second body frame, the left-side face of the first body frame and the right-side face of the first body frame being disposed in a width direction, and the left-side face of the second body frame and the right-side face of the second body frame being disposed in the width direction;
• and
• a front end tool configured to be provided on a front end side of at least one of the four limb units, wherein
• each of the four limb units includes a base end joint module, an intermediate joint module, and a front end joint module in order from a base end side of the limb unit,
• the base end joint module and the front end joint module each includes two limb-side drive shafts and a holding frame,
• each of the two limb-side drive shafts includes a pitch shaft configured to rotate the limb unit relative to the body unit and a roll shaft configured to rotate a front end part of the limb unit relative to a base end part of the limb unit,
• the intermediate joint module includes three limb-side drive shafts and a holding frame, and
• each of the three limb-side drive shafts includes two yaw shafts configured to rotate the front end part of the limb unit relative to the base end part of the limb unit in a direction to which the limb unit extends, a pitch shaft disposed between the two yaw shafts configured to rotate the limb unit so as to fold the front end part of the limb unit relative to the base end part of the limb unit in a direction to which the limb unit extends.