| 摘要 |
The present invention provides a mobile body capable of executing travel and jumping in a stable manner. This mobile body is equipped with: two moving means attached at the lower left and right of a vehicle body; a sensor that detects the posture of the vehicle body; a control device that performs calculations, with information from this sensor as an input; two expansion/contraction actuators that are attached between the vehicle body and the moving means, and that generate force up and down in the vertical direction; a rotary actuator that is provided in the center part of the two expansion/contraction actuators and that rotates with the direction of advance of the vehicle body as the axis; a roll link connected to an output unit of the rotary actuator; two suspensions that link the left and right ends of the roll link and the moving means; and foot frames attached between the suspensions and the moving means. The control means controls the rotary actuator such that, by means of the sensor, the vehicle body achieves the target inclination angle and the target angular velocity. |
