| 摘要 |
PURPOSE:To enable to perform steering without additionally providing a steering mechanism or the oscillating mechanisms for driven wheels, by a method wherein a center of gravity is positioned between a pair of driving wheels, and the driven wheels are situated both in front and in the rear of the center of gravity. CONSTITUTION:A robot body 21 is provided with a pair of driving wheels 22, and a pair of front legs 23 and a pair of rear legs 24, each having two joints. An auxiliary wheel 25 is attached to the tip of each of the front legs 23, and an auxiliary wheel 26 is attached to the tip of each of the rear legs 24. The legs 23 and 24, the driving wheels 22, and the auxiliary wheels 25 and 26 are used in combination, and this enables the robot to run over an obstacle even if it is relatively large. |
