In a moving object including a plurality of supporting legs with casters, stability during wheel driving is improved. The moving object includes a plurality of supporting legs respectively having bases attached to a body and casters attached to distal ends thereof. The supporting legs have a predetermined mechanical compliance characteristic by which torque is generated in a restoring direction against horizontal force exerted on the casters during wheel driving. For example, the supporting legs are modified so as to have the predetermined mechanical compliance characteristic when the moving object transitions to a driving mode in which the wheel driving is performed.
MOVING OBJECT AND METHOD OF CONTROLLING MOVING OBJECT
2023-08-10
Patent
Elektronische Ressource
Englisch
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