Mobile robot
First Claim
1. A mobile robot comprising:
- a body having a control device and an inclination angle detecting device which detects an inclination angle and an angular velocity of the body with respect to a gravity direction;
a plurality of legs each having a thigh part and a lower limb part, the thigh part being rotatable around an X-axis, which is a front direction with respect to the body, and around a Y-axis which is a side surface direction with respect to the body;
a wheel provided on a lower portion of the lower limb part and rotatable around the Y-axis;
a movable supporting part provided on the lower portion of the lower limb part separately from the wheel and rotatable around the Y-axis to be grounded on a road surface; and
said robot switching its operation according to irregularities of the road surface between coaxial two-wheeled inverted pendulum control operation of moving with the wheels without grounding the movable supporting parts while maintaining inversion, and bipedal walking control operation of walking by controlling the grounding of the wheels and the movable supporting parts on the road surface, said bipedal walking control operation moving said legs while effecting a complete grounding state that the wheels are grounded while being prevented from rotating and the movable supporting parts are also grounded on the road surface, and a wheel grounding state that the wheels are grounded while being permitted to rotate and the movable supporting parts are floated from the road surface.
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Accused Products
Abstract
There is provided a high-speed and stable robot apparatus realizing stable walking by surely grounding legs having wheels even on an irregular ground surface. The mobile robot includes a body having a control device and an inclination angle detecting device which detects an inclination angle and an angular velocity, and the plurality of legs each having a thigh part and a lower limb part. The thigh part is rotatable around an X-axis, which is a front direction with respect to the body, and around a Y-axis which is a side surface direction with respect to the body. The robot comprises wheels rotatable around the Y-axis and movable supporting parts rotatable around the Y-axis and capable of being grounded on a road surface, which are provided on lower portions of the lower limb parts. The robot switches its operation according to irregularities of the road surface between coaxial two-wheeled inverted pendulum control operation of moving with the wheels without grounding the movable supporting parts while maintaining the inversion and bipedal walking control operation of walking by controlling the grounding of the wheels and the movable supporting parts on the road surface.
27 Citations
8 Claims
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1. A mobile robot comprising:
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a body having a control device and an inclination angle detecting device which detects an inclination angle and an angular velocity of the body with respect to a gravity direction; a plurality of legs each having a thigh part and a lower limb part, the thigh part being rotatable around an X-axis, which is a front direction with respect to the body, and around a Y-axis which is a side surface direction with respect to the body; a wheel provided on a lower portion of the lower limb part and rotatable around the Y-axis; a movable supporting part provided on the lower portion of the lower limb part separately from the wheel and rotatable around the Y-axis to be grounded on a road surface; and said robot switching its operation according to irregularities of the road surface between coaxial two-wheeled inverted pendulum control operation of moving with the wheels without grounding the movable supporting parts while maintaining inversion, and bipedal walking control operation of walking by controlling the grounding of the wheels and the movable supporting parts on the road surface, said bipedal walking control operation moving said legs while effecting a complete grounding state that the wheels are grounded while being prevented from rotating and the movable supporting parts are also grounded on the road surface, and a wheel grounding state that the wheels are grounded while being permitted to rotate and the movable supporting parts are floated from the road surface. - View Dependent Claims (2, 3, 4, 5)
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6. A mobile robot comprising:
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a body having a control device and an inclination angle detecting device which detects an inclination angle and an angular velocity of the body with respect to a gravity direction; and a plurality of legs each having a thigh part and a lower limp part, the thigh part rotatable around an X-axis which is a front direction with respect to the body, and around a Y-axis which is a side surface direction with respect to the body, a wheel provided on a lower portion of the lower limb part for rotation around the Y-axis, and a movable supporting part provided separately from the wheel on the lower portion of the lower limb part and movable separately from the wheel for rotation around the Y-axis, wherein; when a road surface has few irregularities, a coaxial two-wheeled inverted pendulum control operation is performed to fold the movable supporting parts on a side of the wheels of the legs and travel with the wheels without grounding the movable supporting parts on the road surface, and when the road surface has large irregularities, a bipedal walking control operation is performed to walk with the legs in one of a complete grounding state and a wheel grounding state, the complete grounding state indicating that the wheels are grounded on the road surface while being prevented from rotating and the movable supporting parts are grounded on the road surface, and the wheel grounding state indicating that the wheels are grounded while being permitted to rotate and the movable supporting parts are floated from the road surface. - View Dependent Claims (7, 8)
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Specification