OMNIDIRECTIONAL MOBILE ROBOT AND OMNIDIRECTIONAL MOTION DRIVING MECHANISM THEREFOR

摘要

PROBLEM TO BE SOLVED: To provide a mobile robot able to make small-radius turning equipped with omnidirectional/horonomic moving possibility.;SOLUTION: The omnidirectional mobile robot is equipped with a spherical runner, a robot body furnished with an omnidirectional motion driving means to transmit to the spherical runner a force for rolling the runner in any direction, and a controlling means to control the robot body using an inverted pendulum type model. The spherical runner should favorably have resilience. The spherical runner should favorably have a holding means to hold the runner rotatably.;COPYRIGHT: (C)2007,JPO&INPIT