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Moving robot

  • US 7,677,345 B2
  • Filed: 04/17/2006
  • Issued: 03/16/2010
  • Est. Priority Date: 03/14/2005
  • Status: Expired due to Fees
First Claim
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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.

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