| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a two-legged mobile device capable of smoothly striding over an obstacle which is present in a dwelling environment where human beings live. <P>SOLUTION: This two-legged mobile device includes: first and second legs each having an angularly bendable knee joint; a hip 10 turnably supporting the joints (hip joints) at the roots of the first and second legs; and a striding-over control unit for striding over a projecting object prepared on a floor in the advancing direction by controlling the bending angles of the knee joints and the rotating angles of the hip joints. The striding-over control unit controls the knee joint of the second leg in a backwardly projecting posture (posture of reverse knee) when the mobile device strides over the obstacle by swinging the first leg to the upper side of the obstacle while the second leg is brought into contact with the ground at the rear side of the obstacle. Preferably, the mobile device smoothly strides over the obstacle while traveling at a constant speed by using, simultaneously, a traveling by first and second wheel mechanisms installed at the toe ends of the first and second legs, respectively. <P>COPYRIGHT: (C)2012,JPO&INPIT |
