| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an omni-directional mobile robot, in which drive power is efficiently transmitted to a spherical wheel. <P>SOLUTION: The omni-directional mobile robot includes: one or more spherical wheels 2; a pitch link 10, a roll link 11 and a yaw link 12 rotatably supporting the spherical wheel 2 about a pitch axis, a roll axis and a yaw axis crossing one another at the center of the spherical wheel 2, and coupled to one another in series; an actuator 5 for rotatably driving each link; a control unit 6 for controlling the operation of the actuator 5; a boarding part 4 fixed to the yaw link 12; and a variation amount detection sensor 7 for detecting an attitude of the boarding part 4. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
