Movable object and method of controlling the same

A method for controlling a movable object

• wherein the movable object includes:
• a main rotary part configured to rotate about a first rotational axis,
• a variable rotary part configured to move relative to the main rotary part and rotate at a main angular velocity, the main angular velocity being an angular velocity of the main rotary part, and
• a plurality of spokes, each of the plurality of spokes including an outer end portion configured to move with respect to the first rotational axis based on the main rotary part rotating and the variable rotary part moving relative to the main rotary part,
• the method comprising:
• controlling the movable object to travel at a travel speed;
• inputting an acceleration command to a controller to increase the travel speed of the movable object;
• and
• based on the acceleration command being input to the controller, increasing a spoke speed of a spoke that contacts a ground among the plurality of spokes,
• wherein controlling the main angular velocity includes moving the variable rotary part relative to the main rotary part,
• wherein moving the variable rotary part includes:
• rotating one end portion of a fixed driving arm about a fixed center of rotation at a first rotational angular velocity, and
• rotating a variable driving arm about a variable center of rotation at a second rotational angular velocity, the variable driving arm having one end portion connected to the fixed driving arm and an opposite end portion connected to the variable rotary part, the variable center of rotation being spaced apart from the fixed center of rotation and configured to pass through the fixed driving arm,
• wherein the method further comprises:
• determining a plurality of target spoke speeds being spoke speeds of the outer end portions of the plurality of spokes, based on the acceleration command being input to the controller to enable the travel speed of the movable object to reach a target travel speed, and
• calculating the main angular velocity, the first rotational angular velocity, and the second rotational angular velocity, based on the plurality of target spoke speeds being determined, and
• wherein, based on a spoke speed of a spoke being increased:
• the main rotary part is configured to rotate based on the main angular velocity, the first rotational angular velocity, and the second rotational angular velocity being calculated, and
• the variable rotary part is configured to move relative to the main rotary part.

A wheel assembly for a movable object, the wheel assembly comprising:

• a main rotary part configured to rotate about a first rotational axis;
• a variable rotary part configured to move relative to the main rotary part in a direction intersecting with the first rotational axis;
• a plurality of spokes, each of the plurality of spokes including an outer end portion configured to move with respect to the first rotational axis based on (i) the main rotary part rotating and (ii) the variable rotary part moving relative to the main rotary part;
• and
• a driving part including:
• a first driving part configured to rotate the main rotary part, and
• a second driving part configured to move the variable rotary part relative to the main rotary part,
• wherein the movable object further comprises a controller configured to control the driving part, and
• wherein the controller is configured to control the first driving part and the second driving part to thereby increase a spoke speed of a spoke that contacts a ground among the plurality of spokes based on an acceleration command being input to the controller to increase a travel speed of the movable object,
• wherein the variable rotary part is configured to, based on the main rotary part rotating, rotate at a main angular velocity, the main angular velocity being an angular velocity of the main rotary part,
• wherein the second driving part includes:
• a fixed driving part including a fixed driving arm having one end portion configured to rotate about a fixed center of rotation at a first rotational angular velocity. and
• a variable driving part including a variable driving arm having one end portion connected to the fixed driving arm and an opposite end portion connected to the variable rotary part, the variable driving arm being configured to rotate about a variable center of rotation at a second rotational angular velocity, wherein the variable center of rotation passes through the fixed driving arm and is spaced apart from the fixed center of rotation.