| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling robot in which a plurality of support legs are attached to a vehicle body and independently driven wheels are attached to the support legs, respectively and which can have both a support leg motion function and a vertical load detection function. SOLUTION: In the traveling robot, a holding mechanism for a front wheel W1 includes at least the support legs L1 rotatable in the longitudinal direction of the vehicle body, arms 5 rotatably connected to the lower ends of the support legs L1, respectively, and motors 6 for wheel driving connected to the arms 5, respectively. A load detection means 10 for detecting the vertical load of the wheel W1 is interposed between the support legs L1 and the motors 6, respectively. The vertical load is accurately detected while securing the excellent motion function of the support legs L1. COPYRIGHT: (C)2010,JPO&INPIT
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