Title:
MOVING BODY
Document Type and Number:
WIPO Patent Application WO/2014/141356
Kind Code:
A1
Abstract:
This moving body is provided with: a main body (3); a pair of leg frames (10L, 10R) mounted to the left and right of the lower part of the main body (3) so as to be capable of being turned by leg actuators in a pitch direction around a horizontal axis (Y) perpendicular to the direction of travel of the main body (3), the leg frames (10L, 10R) extending longitudinally in the vertical direction; a pair of left and right roll actuators (11L, 11R) drivable in a roll direction about an axis in the direction of travel of the main body (3) on that end of the leg frames (10L, 10R) which is on the side opposite from the end where the leg frames (10L, 10R) are connected to the main body (3); ankle members (12L, 12R) provided to the output parts of the roll actuators (11L, 11R); wheel actuators (13L, 13R) mounted on the ankle members (12L, 12R); and a control device (1E) for controlling the leg actuators, the roll actuators (11L, 11R), and the wheel actuators (13L, 13R).
Inventors:
AMINO AZUSA (JP)
NAKAMURA RYOSUKE (JP)
UEDA TAISHI (JP)
NAKAMURA RYOSUKE (JP)
UEDA TAISHI (JP)
Application Number:
PCT/JP2013/056566
Publication Date:
September 18, 2014
Filing Date:
March 11, 2013
Export Citation:
Assignee:
HITACHI LTD (JP)
International Classes:
G05D1/02; B25J5/00
Foreign References:
| JP2005288561A | 2005-10-20 | |||
| JP2011045973A | 2011-03-10 |
Other References:
OSAMU MATSUMOTO ET AL.: "Self-contained Biped Leg-wheeled System (First report", DAI 19 KAI ANNUAL CONFERENCE OF THE ROBOTICS SOCIETY OF JAPAN KOEN RONBUNSHU, THE ROBOTICS SOCIETY OF JAPAN, 18 September 2001 (2001-09-18), pages 399 - 400
Attorney, Agent or Firm:
ISONO Michizo (JP)
Michizo Isono (JP)
Michizo Isono (JP)
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