Moving robot

Abstract

Within a moving robot of narrow footprint, having quick traveling performance on a plane-surface, as well as, anti-tumbling function, and further being suitable for operations under coexistence with a human being, being able to travel coping with traveling situations on a level difference, etc.: in front and rear of main driving wheelsand, each being controlled through the inverted pendulum control, are disposed supporting legsand, tips of which can be lifted up and down, wherein the tips of the supporting legsandare positioned to keep a predetermined distance between a traveling surface, when running on the inverted two-wheels travel, and the supporting legsandare fixed or either one in the fall-down direction is thrust out into the fall-down direction, so as to protect it from falling down. Further, upon the basis of detection information of floor-surface distance sensorsandand side-surface distance sensorand, which are provided at the tips of the supporting legsand, the robot senses an existence of a level difference and/or an inclined surface, so as to let the supporting legs to escape from the level difference and/or the inclined surface, and holds the position of gravity center thereof, stably, through other one of the supporting legs, being landed on the ground, and the main driving wheelsand; thereby enabling to travel over the level difference and the inclines surface.