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Mobile robot

  • US 7,649,331 B2
  • Filed: 11/10/2005
  • Issued: 01/19/2010
  • Est. Priority Date: 11/11/2004
  • Status: Expired due to Fees
First Claim
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1. A mobile robot comprising:

  • a coaxial two-wheeled mobile mechanism having left and right wheels, which controls a forward thrust using inverted pendulum control;

    an upper body connected to an upper portion of the mobile mechanism;

    a swing mechanism which actively swings the upper body laterally with respect to the mobile mechanisms; and

    a control unit which controls the swing mechanism,wherein the control unit includes sensing means for estimating a location of intersection of an extension of a composite vector of a centrifugal force and a gravitational force acting on a center of gravity of the mobile robot and a ground plane of left and right wheels of the mobile mechanism, and controls a swing attitude angle of the upper body so as to keep, based on an estimate made by the sensing means, the location of intersection around a center laterally between the left and right wheels.

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