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|1. (WO2018008345) ROBOT|
|Applicants:||PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
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.