PROBLEM TO BE SOLVED: To provide an obstacle avoidance lead robot made compact and lightweight and thereby easy to carry.SOLUTION: An obstacle avoidance lead robot 1 comprises: a main leg 2 a self-propelled front wheel drive part 3 connected to a lower part of the main leg an operation part 4 provided at an upper part of the main leg and a control part 8 for controlling the front wheel drive part on the basis of commands of the operation part operated by a user. The front wheel drive part comprises: a wheel support part 9 two wheels 10a and 10b supported by the wheel support part and rotated independently: and a turning shaft 12 for turning the wheel support part when a rotation speed difference occurs between the two wheels.
