Moving device
AssigneeLifehub Inc.
InventorHiroshi NAKANO
Life of this patent
Estimating the term…
Abstract
A moving device includes: two leg portions each including an end-portion wheel and an intermediate wheel; a placement portion supported by the two leg portions; and a control unit configured to control the two leg portions. The moving device is configured such that, under a state of four-wheel ground contact in which the end-portion wheel and the intermediate wheel are in contact with the ground, when the end-portion wheel is moved from the boarding area to the step of the escalator and/or when the end-portion wheel is moved from the step to the landing area of the escalator, a wheel speed of the end-portion wheel is controlled by the control unit.
Claims9
A moving device for moving a moving object while having the moving object loaded thereon, the moving device comprising:
- two leg portions;
- a placement portion supported by the two leg portions and configured to have the moving object loaded thereon;
- wherein each of the two leg portions includes:
- an upper link;
- a lower link coupled to the upper link;
- an end-portion wheel provided at a lower end of the lower link;
- a first joint actuator configured to drive the upper link in a front-rear direction;
- a second joint actuator configured to drive the lower link in the front-rear direction;
- and
- a third joint actuator configured to drive the upper link in a right-left direction,
- wherein, when there is a difference in a height direction between end-portion wheel ground-contact positions of both the leg portions, the first joint actuator, the second joint actuator and/or the third joint actuator is driven so that a height of the placement portion is changed by the height difference of the end-portion wheel ground-contact positions of both the leg portions with this driving.
Dependencies are inferred from the claim text.