| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a runner capable of avoiding tumbling even in case a failure associated with the drive has occurred. <P>SOLUTION: The runner 10 runs with a pair of driving wheels 34 and 44 installed approximately coaxially while the runner body 12 is maintained in the upset attitude. The control module 14 of the runner 10 is equipped independently with a stabilizing controller 50 to emit the torque command value to motors 32 and 42 for maintaining the body in the upset attitude and a running control part 52 to emit to the motors 32 and 42 the torque command value for running the runner in conformity to the input from an operating lever 18. When a failure sensing part 58 senses a failure, outputting the torque command value from the running control part is stopped. When failure is sensed, the time for maintaining the upset attitude or till tumbling can be prolonged as the torque which the motors 32 and 42 are able to emit can all be used for keeping the upset attitude of the body. During this period, auxiliary wheels 26 are put out, whereby the body can be supported by three wheels before the body tumbles. <P>COPYRIGHT: (C)2007,JPO&INPIT |
