| 摘要 |
The purpose of the present invention is to provide a moving apparatus having a means for easily determining the possibility of self-support in a dynamically stable posture. For this purpose, this moving apparatus is provided with: a displacement unit for displacing the position of the apparatus itself, with respect to a ground surface contacted by the apparatus itself; and a control unit for controlling the displacement unit in such a way that the apparatus itself can move to a target spot. The moving apparatus has at least two different self-supporting postures: a statically stable posture for which control is not required for self support, and a dynamically stable posture for which control is required for self support. During transition from the statically stable posture to the dynamically stable posture, through a contacted ground condition recognition operation involving actively applying force to a portion of the ground contacted by the apparatus itself, with respect to the contacted ground surface, the apparatus recognizes that the contacted ground surface is such that self-support is possible, and thereafter transitions to the dynamically stable posture. |
