| 摘要 |
PURPOSE:To have smooth striding over any obstacle by arranging a sensor at drive legs, which are equipped on the robot body and driven under control, and grasping accurately the condition of the obstacle relative to the drive legs. CONSTITUTION:In a robot body 1, a sensor 10 is mounted at the aux. drive wheel 5 of each drive leg 3a, 3b. Each sensor 10 consists of a sensor body 10a rotating coaxially at the side of the corresponding aux. drive wheel 5, an ultrasonic wave transmitting element 10b arranged at the periphery of this sensor body 10a, a receiving element 10c, an amplifier, an output device for detection signal, wherein ultrasonic waves emitted from the transmitting element 10b are sent to the periphery of the aux. drive wheel 5, and the reflected waves at an obstacle are received by the receiving element 10c. The signal received is fed into a calculating device to determine the distance of the obstacle from the wheels 5. |
