| 摘要 |
PROBLEM TO BE SOLVED: To provide an omnidirectional moving vehicle capable of controlling its motions in all directions on the floor using a simple configuration. SOLUTION: The omnidirectional moving vehicle capable of moving in all directions on the floor is equipped with a first rotor 1 rotating round the plumb line L relative to the floor surface, and three or more wheels 4 mounted on the first rotor 1, supporting the load of the vehicle, arranged approximately at a constant spacing on one circle centering on the plumb line L and revolving round the plumb line L, wherein two or more wheels 4 are equipped with a rotation controlling motor 5 capable of changing the rotating speed round the axles of the wheels 4, an angle controlling motor 8 capable of changing the attitude of each axle relative to the normal to the circle, and a controlling means 100 to control the moving direction and speed of the first rotor 1 while it 1 is rotated round the plumb line L by controlling the rotating speeds round the axles of two or more wheels 4 and attitudes of the axles. COPYRIGHT: (C)2004,JPO
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