Title:
移動体の段差移動制御方法
Document Type and Number:
Japanese Patent JP7038352
Kind Code:
B2
Abstract:
To make a moving body for turning a support body for supporting wheels to both end parts with respect to a main body go up higher steps while suppressing an inclination of the main body.SOLUTION: Support bodies 40, 42 for supporting wheels 21, 22: 23, 24 rotate with roll axes which are parallel with a first direction x as centers. One roll axis torque generation means is controlled so that a roll axis torque for rotating one support body for supporting the wheel which arrives at a step while the wheel passes the step after arriving at the step reaches final target torque including, at a prescribed ratio, first target torque for rotating the support body so as to set an inclination angle of a main body 14 in a second direction y to a prescribed angle, and second target torque for rotating the support body so as to set a roll axis angle at which the support body rotates with respect to the main body 14 to a target angle, and the other roll axis torque generation means is controlled so that the other support body sets the inclination angle of the main body 14 in the second direction y to a prescribed angle.SELECTED DRAWING: Figure 1
Inventors:
Hideo Nakajima
Application Number:
JP2018092958A
Publication Date:
March 18, 2022
Filing Date:
May 14, 2018
Export Citation:
Assignee:
National University Corporation Wakayama University
International Classes:
B60G17/0165; B60G1/02; B60G9/02
Domestic Patent References:
| JP5105528B2 | ||||
| JP2014000923A | ||||
| JP7099812A | ||||
| JP2010094802A | ||||
| JP57194171A | ||||
| JP62037504U |
Foreign References:
| DE202011110136U1 |
Attorney, Agent or Firm:
Toshinori Yamamoto