To provide a moving body driven by a plurality of motors and structured so that its trunk is supported by legs and wheels are provided at the foot part of each leg and the joint part, wherein an increased wheel function is assured with the same number of motors and there is no motor which is at a standstill whether the moving body is in the wheel running condition or in the leg walking condition.
The moving body 10 is structured so that the trunk part 11 is supported by the legs 12, each being composed of an upper leg 12a and a lower leg 12b coupled together by a joint part rotatably, and wheels 13 are provided at the foot, joint, and crotch parts of each leg. The arrangement includes a plurality of in-wheel motors 15 built in the respective wheels 13 and having built-in brakes, a plurality of reduction gears 20 to decelerate the rotating speeds of the wheels, and an interlocking device 22 to interlock the decelerating speeds by the reduction gears, whereby the in-wheel motors are driven synchronously to rotate the wheels and are put in differential drive so as to swing the upper legs and lower legs.
| WO/2024/071660 | ROBOT NAVIGATING SPECIFIC SPACE AND CONTROL METHOD THEREFOR |
| WO/2014/189302 | OMNIDIRECTIONAL WALKING ASSISTANT ROBOT |
| JP7032599 | Transport trolley and automatic transport system |
ADACHI TADASHI
| JPS63203483A | 1988-08-23 | |||
| JP2005046949A | 2005-02-24 | |||
| JPS56138073A | 1981-10-28 | |||
| JP2002254363A | 2002-09-10 |
Yasuharu Nakasone
Toshihiro Nomura