Abstract: This invention relates to the controlling of the travel of a crawler vehicle and aims at resolving the issue of making a crawler vehicle travel on an ungraded land with the crawlers effectively gripping the road surface. According to the present invention, the loads imparted to crawlers (12FL, 12FR, 12RL, 12RR) are detected, and, on the basis of the results of this detection, the sum of the loads on a pair of crawlers (12FL, 12RR) at the front left and rear right sides of the vehicle and the sum of the loads on another pair of crawlers (12FR, 12RL) at the front right and rear left sides thereof are computed. When a difference between the sums thus computed has become higher than a predetermined level, it means that a diagonal stuck has occurred.

Abstract: A disaster relief robot can be prevented from falling over a precipice or the like while safety for the operator can be ensured during outdoor field transportation of relief supplies such as rescue apparatus and materials, medicines or food stuffs in the case of a wide-area disaster caused by an earthquake, a heavy rainfall, a landslide or the like. Accordingly, track frames (16) for crawlers (12) are pivotably attached to a robot body (10), respectively, at its front and rear ends, the distance L between the pivot shafts of the front and rear crawlers (12F, 12R) is set so that maximum pivoting loci (CF, CR) of the crawlers do not interfere with each other, and further, the gravitational center (G) of the robot body is set at a position intermediate of the distance (L) between the pivot shafts of the front and rear crawlers. Several kinds of operation controllers are also provided.