To provide technique for striking a balance between traveling properties and near work properties with a simple structure.
A traveling robot 1 includes a carriage 3 and an arm unit 4. The carriage 3 includes: a carriage body 5; a right driving wheel 6a and a left driving wheel 7a that are mounted to the carriage body 5; and a front wheel 8a and a rear wheel 9 that are mounted to the carriage body 5 so as to sandwich a straight line L connecting the right driving wheel 6a and the left driving wheel 7a in a plane view. The front wheel 8a is elastically supported by the carriage body 5 so as to be variable in a vertically-relative positional relationship between a rotation axis of the front wheel 8a and the carriage body 5. The rear wheel 9 is supported by the carriage body 5 so as to be not variable in the vertically-relative positional relationship between a rotation axis of the rear wheel 9 and the carriage body 5. At work using the arm unit 4, a ZMP (zero moment point) of the whole of the traveling robot 1 is set to stay inside a polygonal region A specified by connecting the right driving wheel 6a, the left driving wheel 7a, and the rear wheel 9 in the plane view.
IKEDA KOICHI
ISOBE TATSU
JPH0446780A | 1992-02-17 | |||
JP2006150567A | 2006-06-15 | |||
JP2008012642A | 2008-01-24 | |||
JP2009284944A | 2009-12-10 | |||
JPS61191410A | 1986-08-26 | |||
JPH0364169U | 1991-06-21 | |||
JP2007007168A | 2007-01-18 | |||
JP2007061964A | 2007-03-15 |