| 摘要 |
PROBLEM TO BE SOLVED: To provide a locomotive robot and its moving method, achieving an improvement in travelling performance and shock absorption when the locomotive robot is moved by a wheel and achieving an improvement in leg tip positioning accuracy when the locomotive robot walks on legs. SOLUTION: An articulated wheel 10 includes: a rotating leg portion 11 supported by a vehicle body 2 through a first revolute joint drive shaft 12 fixably turning; and a turning leg portion 20 having both end parts 20a at which fixably rotating drive wheels 13 are arranged and a center parts 20b supported by a rotating leg portion 11 through a second revolute joint drive shaft 15 fixably rotating. A suspension mechanism is provided which can change a shock absorbing mode allowing the turning movement of the rotating leg portion 11 to the vehicle body 2 and the turning movement of the turning leg portion 20 to the second revolute joint drive shaft 15 in a traveling stage of fixing the first and second revolute joint drive shafts 12, 15 and a fixing mode fixing the rotating leg portion 11 to the first revolute joint drive shaft 12 and fixing the turning leg portion 20 to the second revolute joint drive shaft 15 in a walking stage of turning the first and second revolute joint drive shafts 12, 15. COPYRIGHT: (C)2009,JPO&INPIT
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