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1. (WO2018008345) ROBOT

Pub. No.:    WO/2018/008345    International Application No.:    PCT/JP2017/022041
Publication Date: Fri Jan 12 00:59:59 CET 2018 International Filing Date: Fri Jun 16 01:59:59 CEST 2017
IPC: G05D 1/02
A63H 11/00
B25J 5/00
Applicants: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
パナソニックIPマネジメント株式会社
Inventors: MIYAZAKI Ryouta
宮崎 亮太
OGAWA Kento
小川 兼人
HIGUCHI Seiya
樋口 聖弥
Title: ROBOT
Abstract:
A travel state assessment unit assesses that the travel state of a robot 1 is indicative of friction surface travel if the value obtained by removing a gravity component from the acceleration detected by an acceleration sensor stays at less than a reference value for a given interval. The travel state assessment unit computes an orientation angle of the robot 1 from the angular velocity in the pitch direction as detected by an angular velocity sensor, and if said computed orientation angle stays greater than or equal to a lower bound angle during an assessment time, the travel state assessment unit sets the orientation angle at the time that the assessment time ends as an orientation control angle. If the travel state of the robot 1 has been assessed to be indicative of friction surface travel, an orientation control unit causes a counterweight to move forward by a quantity of movement which is equivalent to the orientation control angle.