To provide an omnidirectional moving device of a sphere driving type which can restrain its manufacturing cost from increasing, and has four spheres which prevent its running stability from easily being disturbed due to the condition of a floor surface.
The omnidirectional moving device 10 of the sphere driving type includes: the four spheres 1-4 whose centers form a rectangle or a square in its planar view; and a first to a fourth driving force transmission mechanisms 12-15 each provided with pairs of rollers (31, 32), (33, 34), (35, 36), (37, 38) which abut on the peripheral surfaces of the spheres (4, 1), (1, 2), (2, 3), (3, 4) adjoining to each other. The rollers (37, 38) can be driven and rotated so as to be synchronized with rollers (33, 34). A first to a third motors 16-18 each provided in the first to the third driving force transmission mechanisms 12-14 are each driven by a first controller 71 and a first driver 74, a second controller 72 and a second driver 75, and a third controller 73 and a third driver 76.
FUJIOKA TAKESHI
SEIBU ELECTRIC & MACHINERY CO
| JP2001354156A | 2001-12-25 | |||
| JPS6331804A | 1988-02-10 | |||
| JPS63149270A | 1988-06-22 | |||
| JPH07257422A | 1995-10-09 | |||
| JPH0867268A | 1996-03-12 | |||
| JP2010173570A | 2010-08-12 | |||
| JP2010030360A | 2010-02-12 |
CSNG200801074024; 宮本 弘之: 'ロボットと人間の身振りによるコミュニケーション' 電子情報通信学会技術研究報告 第１０８巻，第２８２号, 20081031, ｐ１５３-１５８, 社団法人電子情報通信学会
Yoshihiro Kurita