Moving robot
First Claim
1. A moving robot, comprising:
- an upper body; and
a coaxial two-wheel moving mechanism arranged to support the upper body to move in an advance direction in accordance with an inverted pendulum control, the coaxial two-wheel moving mechanism having a pair of main driving wheels each of which is controlled in accordance with the inverted pendulum control, and one or more supporting legs disposed front and rear of the main driving wheels with each supporting leg provided with an auxiliary wheel disposed at a tip and controlled in accordance with the inverted pendulum control;
a posture sensor arranged in the upper body, to detect a posture of the moving robot with respect to the direction of gravity; and
a controller arranged in the upper body, to control movement of the coaxial two-wheel moving mechanism, including the main driving wheels and the one or more supporting legs, based on information from the posture sensor;
wherein a relative position of said auxiliary wheel is changeable with respect to the main driving wheels of said coaxial two-wheel moving mechanism.
1 Assignment
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Accused Products
Abstract
Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheels 2 and 3, each being controlled through the inverted pendulum control, are disposed supporting legs 4 and 5, tips of which can be lifted up and down, wherein the tips of the supporting legs 4 and 5 are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs 4 and 5 are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensors 4e and 5e and side-surface distance sensor 4f, 4g, 5f and 5g, which are provided at the tips of the supporting legs 4 and 5, the robot senses an existence of a level difference and/or an inclined surface, so as to let the supporting legs to escape from the level difference and/or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheels 2 and 3; thereby enabling to travel over the level difference and the inclines surface.
41 Citations
14 Claims
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1. A moving robot, comprising:
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an upper body; and a coaxial two-wheel moving mechanism arranged to support the upper body to move in an advance direction in accordance with an inverted pendulum control, the coaxial two-wheel moving mechanism having a pair of main driving wheels each of which is controlled in accordance with the inverted pendulum control, and one or more supporting legs disposed front and rear of the main driving wheels with each supporting leg provided with an auxiliary wheel disposed at a tip and controlled in accordance with the inverted pendulum control; a posture sensor arranged in the upper body, to detect a posture of the moving robot with respect to the direction of gravity; and a controller arranged in the upper body, to control movement of the coaxial two-wheel moving mechanism, including the main driving wheels and the one or more supporting legs, based on information from the posture sensor; wherein a relative position of said auxiliary wheel is changeable with respect to the main driving wheels of said coaxial two-wheel moving mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification