| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an inversion wheel type movable body capable of executing recovery operation speedily even upon the occurrence of abnormality such as a collision against an obstacle during traveling. <P>SOLUTION: This inversion traveling robot 1 is provided with a vehicle body 11, two or more wheels 15 attached to the vehicle body 11, one or more assisting wheels 16 assisting the wheels 15, a stabilization controlling means for keeping inversion, a driving means driving the wheels according to the amount of controlling calculated by the stabilization controlling means, and one or more pressure sensitive sensors 17 capable of measuring pressure at least one or more axial directions between the assisting wheel 16 and the grounding point of the assisting wheel 16 with the ground. The stabilization controlling means observes the value of the pressure sensitive sensor 17 during halts and travelling, and detects the presence of abnormality. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
