To provide a moving device 1 capable of moving in all two-dimensional directions, rotating and performing a rotary motion, even if a road surface is uneven, and realizing thinning and miniaturizing of the whole device and a high speed operation.
A disc-shaped rotating member 5 is inclined to an installation surface in a prescribed direction, a part located at an inclined end of many small wheels 6 are in contact with the installation surface, and thereby large torque vector according to rotational speed is generated in a tangential line direction of each rotating member 5 by dynamic frictional force of the small wheels 6 and the installation surface. By adjusting rotational speed of each rotating member 5, a vehicle body 2 receives resultant force according to sum of the torque vector of each rotating member 5, and thereby movement in all two dimensional directions, rotation and rotary motion are made possible. The moving device 1 is capable of traveling on the uneven road surface without hindrance, loading a heavy object, and being widely applied to a vehicle on which a person gets in his standing state, a carriage and a wheelchair, etc.
MATSUE TAKENORI
SHIGEOKA KEIJI
MATSUSHITA KOICHI
