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Title:
OMNI-DIRECTIONAL MOBILE ROBOT
Document Type and Number:
Japanese Patent JP2012188046
Kind Code:
A
Abstract:

To provide an omni-directional mobile robot, in which drive power is efficiently transmitted to a spherical wheel.

The omni-directional mobile robot includes: one or more spherical wheels 2; a pitch link 10, a roll link 11 and a yaw link 12 rotatably supporting the spherical wheel 2 about a pitch axis, a roll axis and a yaw axis crossing one another at the center of the spherical wheel 2, and coupled to one another in series; an actuator 5 for rotatably driving each link; a control unit 6 for controlling the operation of the actuator 5; a boarding part 4 fixed to the yaw link 12; and a variation amount detection sensor 7 for detecting an attitude of the boarding part 4.


Inventors:
Nakamura, Yoshihiko
OK, Sungsuk
Application Number:
JP2011000054471
Publication Date:
October 04, 2012
Filing Date:
March 11, 2011
Export Citation:
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Assignee:
UNIV OF TOKYO
International Classes:
B62K1/00; B62D9/00; B62K17/00; B62D15/00
Domestic Patent References:
JP2009176295A2009-08-06
JP2007210576A2007-08-23
Foreign References:
WO2010032493A12010-03-25
Attorney, Agent or Firm:
今枝 弘充
吉田 正義
小合 宗一
梅村 裕明
牛木 護
高橋 知之



 
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