| 摘要 |
<P>PROBLEM TO BE SOLVED: To constitute a mobile robot suitable for a human-coexistence work, having a narrow footprint and quick traveling performance accompanying a sudden turn and enabling stable traveling. <P>SOLUTION: This mobile robot 1 is provided with: an oscillating mechanism 10 for actively oscillating an upper body 3 in a side surface direction in relation to a coaxial two-wheel type moving mechanism 2 by using the mechanism 2 for controlling thrust in a front propulsive direction by an inverted pendulum control; and a control device 11. An oscillating attitude is controlled so that an intersection position of an extended line of a resultant vector A of centrifugal force acting on the center of gravity of the mobile robot 1 and gravitational force and a grounding surface of a wheel may be maintained in a region between left and right wheels. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
