| 摘要 |
A braking apparatus comprises a first contact unit arranged on the rotary shaft side of a wheel, at least a second contact unit for contacting the first contact unit for generating a friction force, an actuator for pressing the second contact unit against the first contact unit, and a control unit for controlling the operation of the actuator, wherein the control unit performs the position control operation for moving the second contact unit in such a manner that the interval between the first contact unit and the second contact unit is smaller than a preset distance, and the force control operation for pressing the second contact unit against the first contact unit in accordance with the required braking force.
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