A leg-wheel hybrid walking vehicle. A Leg-wheel hybrid mobile robot is of interest because a walking robot has high terrain adaptability on irregular ground but a wheeled robot takes advantage of moving speed on smooth terrain. In the past, active wheels were often used for wheeled locomotion. However installation of active wheels restricted the walking machine's ability because active wheels need actuators, brake mechanism and a steering mechanism. This equipment is heavy and bulky and is not a practical solution for a walking robot which has many degrees of freedom. The hybrid mobile robot is a vehicle with a special foot mechanism which changes between feet soles for the walking mode and passive wheels for the wheel.