Mobile robot
US7649331B2 · kind B2 · utility
21Cited by
8References
8Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Nov 10, 2005 |
| Grant date | Jan 19, 2010 |
| Priority date | — |
| Expiry date | Feb 14, 2028 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62K11/007
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A mobile robot has a mobile mechanism, a swing mechanism and a control unit. The mobile mechanism is of a coaxial two-wheeled type and controls a forward thrust using inverted pendulum control. The swing mechanism actively swings an upper body laterally with respect to the mobile mechanism. A centrifugal force and a gravitational force act on a center of gravity of the mobile robot. A swing attitude is controlled such that a location of intersection of an extension of a composite vector of the forces acting on the center of gravity of the mobile robot and a ground plane of wheels is kept between left and right wheels.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.