| 摘要 |
PURPOSE:To facilitate elevation of stairs and the like, by a method wherein a device is provided for performing running through control of expansion of two legs mounted to a leg frame and driving of a wheel attached to the lower part of the leg and holding orientation despite of inclination of two different links. CONSTITUTION:When a running device runs on a flat ground, the lengths of front and rear legs 18a and 18b are equal to each other, and two different links 5 and 12 are positioned in a horizontal direction. Meanwhile, where a distance V is detected by a front distance sensor 32a of a front leg part 7a, running is stopped, and the legs 18a and 18b are expanded and contracted so that a difference between the lengths of the two legs 18a and 18b is adjusted to H+H'. The running device is advanced again, and through detection of a distance V by means of the rear distance sensor 32b, running is stopped, the legs 18a and 18b are expanded and contracted so that the lengths of the legs 18a and 18b are made equal to each other. If a front distance sensor 32a of a rear leg frame 7b detects a distance V, motion is performed in a manner described above, and this motion causes the running device to go up stairs. |
