A traveling body has a plurality of legs, each of which displaces angularly around a joint shaft, a base part to which the plurality of legs are fixed, wheels that are respectively disposed at one end of the legs, and an actuator that changes an angle between the leg and the base part by rotating the joint shaft. The wheel has a plurality of omni wheels disposed rotatably on an outer periphery of the wheel, the small rotary members constituting parts of the wheel that contact the floor. Each omni wheel is disposed so that a rotation vector of the omni wheel intersects with both a rotation vector of the wheel and a rotation vector around the joint shaft.


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    Title :

    TRAVELING BODY


    Contributors:

    Publication date :

    2015-09-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60B VEHICLE WHEELS , Räder für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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