| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide technique for striking a balance between traveling properties and near work properties with a simple structure. <P>SOLUTION: A traveling robot 1 includes a carriage 3 and an arm unit 4. The carriage 3 includes: a carriage body 5; a right driving wheel 6a and a left driving wheel 7a that are mounted to the carriage body 5; and a front wheel 8a and a rear wheel 9 that are mounted to the carriage body 5 so as to sandwich a straight line L connecting the right driving wheel 6a and the left driving wheel 7a in a plane view. The front wheel 8a is elastically supported by the carriage body 5 so as to be variable in a vertically-relative positional relationship between a rotation axis of the front wheel 8a and the carriage body 5. The rear wheel 9 is supported by the carriage body 5 so as to be not variable in the vertically-relative positional relationship between a rotation axis of the rear wheel 9 and the carriage body 5. At work using the arm unit 4, a ZMP (zero moment point) of the whole of the traveling robot 1 is set to stay inside a polygonal region A specified by connecting the right driving wheel 6a, the left driving wheel 7a, and the rear wheel 9 in the plane view. <P>COPYRIGHT: (C)2013,JPO&INPIT |
