| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot movement mechanism that can move flexibly on a flat surface and tackle with an irregular ground and continuously uneven stair steps.SOLUTION: The robot movement mechanism has omnidirectional wheels, which can be independently driven, formed at an end of a leg portion of a movement mechanism having a leg structure; has a sensor for detecting a posture of a main body thereof; and is mounted with a control method of giving rotation command to the omnidirectional wheels according to output value of the posture detecting sensor to avoid falling, and a caster type robot comprises the robot movement mechanism. |
