| 摘要 |
PROBLEM TO BE SOLVED: To provide an inverted moving body capable of moving by getting over a difference in level even though there is a difference on a floor surface during its movement. SOLUTION: The inverted moving body is provided with a rotary body with a cross-sectioned round shape, a control section for controlling turning driving of the rotary body, a main body of the rotary body for retaining the rotary body, an arm section connected with the main body of the moving body, and a retaining section connected with the pointed head of the arm section. A relative position between the main body of the moving body and retaining section is displaceably and deformably organized, and turning of the rotary body is controlled by switching inversion control for maintaining an inverted state of the main body of the moving body so that the control section is brought into contact with the floor surface, and position control for controlling turning driving of the rotary body is carried out so as to make the rotary body move against a designated position. COPYRIGHT: (C)2009,JPO&INPIT
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