Moving body and control apparatus
AssigneeSony Group Corporation
InventorsKatsuhisa Ito, Yuhei Yabe, Takuya Nishibayashi
Life of this patent
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Abstract
To provide a moving body that is capable of more flexible movement. Provided is a moving body including four or more legs that have wheels at ends thereof and are able to be controlled along two or more axes, and a body supported at the four or more legs, in which the four or more legs include two or more front wheel legs that are capable of swinging forward in an advancing direction of the body, and two or more rear wheel legs that are capable of swinging backward in the advancing direction of the body, and the front wheel legs and the rear wheel legs are capable of swinging to such positions that the wheels overlap one another in a direction orthogonal to the advancing direction.
Claims20
A moving body comprising:
- four or more legs that have wheels at ends thereof, and are able to be controlled along two or more axes;
- a body supported at the four or more legs, wherein the four or more legs include two or more front wheel legs that are capable of swinging forward in an advancing direction of the body and two or more rear wheel legs that are capable of swinging backward in the advancing direction of the body, and the front wheel legs and the rear wheel legs are capable of swinging to such positions that the wheels overlap one another in a direction orthogonal to the advancing direction, and
- wherein the moving body is capable of transforming into one or more postures by controlling postures of the front wheel legs and the rear wheel legs, wherein one said posture is a posture in which the wheels of the front wheel legs and the rear wheel legs overlap one another in the direction orthogonal to the advancing direction, and wherein the posture of the moving body is controlled to be in a stabilized state by performing inverted pendulum control using the two wheels of the front wheel legs, the two wheels of the rear wheel legs, or both the two wheels of the front wheel legs and the two wheels of the rear wheel legs.
A control apparatus, wherein
- the control apparatus controls a moving body including four or more legs that have wheels at ends thereof and are able to be controlled along two or more axes, and a body supported at the four or more legs,
- the control apparatus swings two or more front wheel legs out of the four or more legs that are capable of swinging forward in an advancing direction of the body and two or more rear wheel legs out of the four or more legs that are capable of swinging backward in the advancing direction of the body to such positions that the wheels overlap one another in a direction orthogonal to the advancing direction, and
- wherein the control apparatus transforms the moving body into one or more postures by controlling postures of the front wheel legs and the rear wheel legs, wherein one said posture is a posture in which the wheels of the front wheel legs and the rear wheel legs overlap one another in the direction orthogonal to the advancing direction, and wherein the posture of the moving body can be controlled to be in a stabilized state by performing inverted pendulum control using the two wheels of the front wheel legs, the two wheels of the rear wheel legs, or both the two wheels of the front wheel legs and the two wheels of the rear wheel legs.
Dependencies are inferred from the claim text.