In a moving object including a plurality of supporting legs with casters, stability in wheel driving is improved. The moving object includes the plurality of supporting legs in which bases are mounted on a body and the casters are mounted on distal ends, a stabilizer, and a caster angle control unit. The stabilizer controls a position in contact with the ground of the caster of each of the plurality of supporting legs based on a target value of a posture of the body. The caster angle control unit controls a caster angle of each of the casters based on the target value.
MOVING OBJECT AND METHOD OF CONTROLLING MOVING OBJECT
16.06.2022
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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