| 摘要 |
PURPOSE:To ease running on uneven faces, such as stairway in such a way that function of detecting wheels and driving wheels is alternately changed over in response to their situation. CONSTITUTION:Wheels 22a which are located on the front side are used as detecting wheels for obstacles while running is done by driving wheels 22b which are located on the rear side. When the wheels 22a which are the detecting wheels contact the stairway ST, a link 21a comes to be turned in Y direction, and the wheels 22a are moved to the upper side at the first step of the stairway ST. With progress of running, the wheels 22b are brought into contact with the stairway ST, a link 21b is turned, the driving of the wheels 22b are stopped, movement goes up to the upper steps. Thus, when the wheels arrives at the stairway, it is detected by means of a torque detector, the links to support the wheels are turned around the frame by means of the signals, one wheel is moved onto the upper face of the stairway, and the driving wheels are transferred to this wheel, so that running can be continued even on the stairway. |
