Title:
INVERTED PENDULUM TYPE MOVING BODY AND MOVING ROBOT
Document Type and Number:
WIPO Patent Application WO/2012/008005
Kind Code:
A1
Abstract:
Provided is an inverted pendulum type moving body capable of easily moving to a target position by avoiding obstacles even if a space for changing directions cannot be obtained, by utilizing the merits of the pendulum type moving body having a small footprint. Disclosed is an inverted pendulum type moving body (3), wherein a pair of wheels having an identical axis of rotation is attached to a main body, and the moving body is controlled on the basis of an inverted pendulum control model, the pair of wheels being first and second omni wheels (32, 33) comprising a plurality of free rollers (46) attached to the outer peripheral portion of the wheels. The inverted pendulum type moving body is further provided with a third omni wheel (34) comprising a rotational axis (A2) perpendicular to the rotational axis (A1) of the first and second omni wheels (32, 33) and having its grounding point (C3) located on a straight line formed by projecting the rotational axis (A1) of the first and second omni wheels (32, 33) on the floor.
Inventors:
JEONG seonghee (7-52, Meitoku 1-chome Neyagawa-sh, Osaka 11, 〒5720011, JP)
Application Number:
JP2010/061759
Publication Date:
January 19, 2012
Filing Date:
July 12, 2010
Export Citation:
Assignee:
Limited Company TM (23-9, Onodai 6-chome Osakasayamash, Osaka 23, 〒5890023, JP)
有限会社ティーエム (〒23 大阪府大阪狭山市大野台６丁目２３番９号 Osaka, 〒5890023, JP)
有限会社ティーエム (〒23 大阪府大阪狭山市大野台６丁目２３番９号 Osaka, 〒5890023, JP)
International Classes:
B62K17/00; B25J5/00; B60B19/00; B62K5/04; G05D1/08
Attorney, Agent or Firm:
SUGIMOTO Katsunori (13-9, Shitennoji 1-chome Tennoji-k, Osaka-shi Osaka 51, 〒5430051, JP)
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Claims: