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Title:
移動ロボット
Document Type and Number:
Japanese Patent JP4886201
Kind Code:
B2
Abstract:
Within a moving robot of narrow footprint, having quick traveling perforrnance on a plane-surface, as well as, anti-tumbling function: 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), 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 stable.

Inventors:
Yuji Hosoda
Application Number:
JP2005070259A
Publication Date:
February 29, 2012
Filing Date:
March 14, 2005
Export Citation:
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Assignee:
株式会社日立製作所
International Classes:
B25J5/00; B25J13/08; B62D61/12
Domestic Patent References:
JP2003205480A
JP2024789U
JP63237881A
JP2212906A
JP2003334773A
JP2005288587A
JP64078987A
JP11048170A
JP2004291799A
JP2004217170A
Attorney, Agent or Firm:
Polaire Patent Business Corporation