  We theoretically investigate electronic states and physical properties in a
two-channel Anderson lattice model to understand the non-Fermi liquid behaviors
observed in PrV$_2$Al$_{20}$ and PrIr$_2$Zn$_{20}$ whose ground state of the
crystalline electric field for local $f$-electron is the $\Gamma_3$ non-Kramers
doublet of $f^2$-configuration and excited state is the $\Gamma_7$ Kramers
doublet of $f^1$-configuration. We use the expansion from the limit of large
degeneracy $N$ of the ground state ($1/N$-expansion), with $N$ being the
spin-orbital degeneracy. Inclusion of the self-energy of the conduction
electrons up to the order of $O(1/N)$ leads to heavy electron with channel and
spin-orbit degeneracies. We find that the electrical resistivity is
proportional to temperature $T$ in the limit of $T\to0$ and follows
$\sqrt{T}$-law in the wide region of temperature, i.e., $T_x<T<T_0$, where
typical values of $T_x$ and $T_0$ are $T_x\sim10^{-3}T_{\rm K}$ and
$T_0\sim10^{-2}T_{\rm K}$, respectively, $T_{\rm K}$ being the Kondo
temperature of the model. We also find non-Fermi liquid behaviors at $T\ll
T_{\rm K}$ in a series of physical quantities; the chemical potential, the
specific heat, and the magnetic susceptibility, explaining the non-Fermi liquid
behaviors observed in PrV$_2$Al$_{20}$ and PrIr$_2$Zn$_{20}$. At the same time,
we find that the Fermi liquid behavior becomes prominent for the system with
smaller hybridization between $f$- and conduction electrons, explaining the
Fermi liquid behaviors observed in PrTi$_2$Al$_{20}$.
