I think it is the first type biped hobby robot moving with wheels. Weight of the new robot is 404 g and it's height is 17.5 cm, for UK1/2 (Under 500 g). You can recognize the size of the robot compared with the picture of 'Saaga'. He wrote in his blog that he developed with a lot of failure and his unique robot was also developing.
Igaa-san also developed a new type multi-legged robot, 'Vanga', 6-legged robot with wheels, which could move with high speed for Robot Survival Game in 2010.
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