Traveling apparatus, and control method and rotational-angle detector applied thereto
First Claim
Patent Images
1. A traveling apparatus which can travel on a flat ground and on stairs, comprising:
- a pair of left and right crawler units arranged on either one of a front portion and a rear portion below a body;
an another crawler unit arranged on a portion below the body, said portion being on the rear portion below the body and said portion being said rear portion below the body when the pair of left and right crawler is arranged on the front portion below the body;
a wheel arranged at a center between said pair of left and right crawler units; and
a pair of wheels arranged left and right with respect to said another crawler unit;
wherein said wheels are arranged to move up and down relative to said crawler units.
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Abstract
A traveling apparatus which can travel on a flat ground and on stairs is disclosed. The traveling apparatus is comprising a pair of left and right crawler units arranged on either one of a front portion and a rear portion below a body, a crawler unit arranged on the other one of the front portion and the rear portion, a wheel arranged at the center between the pair of left and right crawler units, and a pair of wheels arranged left and right with respect to the crawler unit. Here the wheels are arranged to move up and down relative to the crawler units.
65 Citations
7 Claims
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1. A traveling apparatus which can travel on a flat ground and on stairs, comprising:
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a pair of left and right crawler units arranged on either one of a front portion and a rear portion below a body; an another crawler unit arranged on a portion below the body, said portion being on the rear portion below the body and said portion being said rear portion below the body when the pair of left and right crawler is arranged on the front portion below the body; a wheel arranged at a center between said pair of left and right crawler units; and a pair of wheels arranged left and right with respect to said another crawler unit; wherein said wheels are arranged to move up and down relative to said crawler units. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification