发明申请
- 专利标题: Mobile robot
- 专利标题(中): 移动机器人
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申请号: US11270599申请日: 2005-11-10
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公开(公告)号: US20060097683A1公开(公告)日: 2006-05-11
- 发明人: Yuji Hosoda , Saku Egawa , Junichi Tamamoto , Ryosuke Nakamura , Toshihiko Horiuchi
- 申请人: Yuji Hosoda , Saku Egawa , Junichi Tamamoto , Ryosuke Nakamura , Toshihiko Horiuchi
- 优先权: JP2004-327451 20041111
- 主分类号: B25J5/00
- IPC分类号: B25J5/00
摘要:
A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.
公开/授权文献
- US07649331B2 Mobile robot 公开/授权日:2010-01-19