To provide a spherical body driving type omnidirectional moving body having four spheres, capable of restraining manufacturing costs, without impairing stability of travel by a state on a floor surface.
This spherical body driving type omnidirectional moving device has a carriage body 11, the four spheres 1-4 having a spherical core forming a quadrangle in a plan view, at least five driving force transmission mechanisms 12-17 having wheels 39-50 abutting on the peripheral surface of the spheres 1-4 positioned adjacently or on a diagonal line and simultaneously and respectively rotating the spheres 1-4 in the same direction, and motors 18-20 arranged in three of the driving force transmission mechanisms 12-17 and applying a driving force to the driving force transmission mechanisms 13-15.
COPYRIGHT: (C)2010,JPO&INPIT
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