| 摘要 |
PROBLEM TO BE SOLVED: To autonomously correct a traveling direction even if direction control by a micro-computer is not performed in a driving device 1 with small rotation radius. SOLUTION: The driving device 1 is ground-contacted with a traveling road surface at a ground-contact portion of a driving wheel 3 and a rear ground-contact portion where it is ground-contacted at a rear side than the ground-contact portion of the driving wheel 3. Further, friction force at the rear ground-contact portion is smaller than friction force at the ground-contact portion of the driving wheel 3 and a body 6 is formed such that a gravity center of the whole of the driving device 1 exists at the rear side than the ground-contact portion of the driving wheel 3. Thereby, even if the traveling direction of the driving device 1 is varied from a direction raising a slope by oscillation or the like of the slope, the driving device 1 is turned making the ground-contact portion of the driving wheel 3 as fulcrum until the gravity center arrives at the lowermost side of the slope relative to the ground-contact portion of the driving wheel 3 by action of gravity. Therefore, even if the direction control by the micro-computer or the like is not performed, the driving device 1 can autonomously correct the traveling direction in the direction raising the slope. COPYRIGHT: (C)2006,JPO&NCIPI
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