| 摘要 |
<p>Within a moving robot of narrow footprint, having quick traveling perforrnance on a plane-surface, as well as, anti-tumbling function: in front and rear of main driving wheels (2 and 3), each being controlled through the inverted pendulum control, are disposed supporting legs (4 and 5), tips of which can be lifted up and down, wherein the tips of the supporting legs (4 and 5) are positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legs (4 and 5) are fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensors (4e and 5e) and side-surface distance sensor (4f,4g,5f and 5g), the robot senses an existence of a level difference and/or an inclined surface, so as to let the supporting legs to escape from the level difference and/or the inclined surface, and holds the position of gravity center stable.</p> |
