Chassis

A robot applied to a chassis (1), the robot includes a body, a shell, a bottom portion and the chassis (1), wherein the shell and the bottom portions are connected to each other by a pivot shaft, and the chassis (1) is connected pivotally to the bottom portion, and the chassis (1) comprises:

• a suspension (11) disposed under the bottom of the robot;
• a steering (12) connected pivotally to the suspension (11);
• a controller (10) connected electrically both to the suspension (11) and the steering (12);
• a wheel (14) connected electrically and pivotally to the steering (12), and disposed under the steering (12);
• and
• a sensor (13) connected electrically to the controller and set up outside of the wheel (14) through a long lever (15) for monitoring coordinate positions of the suspension (11), the steering (12) and the wheel (14);
• wherein a steering shaft of the steering (12) axially coincides with a steering shaft of the wheel (14), so the controller (10) can govern the turning direction of the wheel (14) and the height of the suspension (11) through the suspension (11) and the steering (12), and wherein when an obstacle is encountered, the sensor (13) senses a displacement amount of the wheel (14) and transmits a sensoring signal back to the controller (10) for calculating a position of the wheel (14) according to the sensoring signal, the robot also sends a controlling signal to the controller (10), the controller (10) then sends a first device controlling signal including coordinate values to the suspension (11) and a second device controlling signal including an angle vector value or a velocity vector value to the steering (12) after computing both the controlling signal and the sensoring signal, the suspension (11) and the steering (12) further send a first output command and a second output command to the wheel (14) according to the first device controlling signal and the second device controlling signal respectively, so to control the wheel (14).