CN109414956B - 全方向移动装置以及其姿势控制方法 - Google Patents

全方向移动装置以及其姿势控制方法 Download PDF

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Publication number
CN109414956B
CN109414956B CN201780040317.XA CN201780040317A CN109414956B CN 109414956 B CN109414956 B CN 109414956B CN 201780040317 A CN201780040317 A CN 201780040317A CN 109414956 B CN109414956 B CN 109414956B
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China
Prior art keywords
rotating body
wheel
wheels
vehicle body
rotating
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Chinese (zh)
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CN109414956A (zh
Inventor
星野祐
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Public University Corp Public Suwa Tokyo University Of Science
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Public University Legal Person Suwa Visits Tokyo University Of Science
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/14—Ball-type wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B33/00—Castors in general; Anti-clogging castors
    • B60B33/08—Ball castors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K1/00—Unicycles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN201780040317.XA 2016-07-01 2017-06-28 全方向移动装置以及其姿势控制方法 Active CN109414956B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2016132090 2016-07-01
JP2016-132090 2016-07-01
JP2016170938 2016-09-01
JP2016-170938 2016-09-01
PCT/JP2017/023822 WO2018003886A1 (ja) 2016-07-01 2017-06-28 全方向移動装置及びその姿勢制御方法

Publications (2)

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CN109414956A CN109414956A (zh) 2019-03-01
CN109414956B true CN109414956B (zh) 2022-01-11

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JP (1) JP6951611B2 (ja)
CN (1) CN109414956B (ja)
TW (1) TWI761354B (ja)
WO (1) WO2018003886A1 (ja)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112154388A (zh) * 2019-08-06 2020-12-29 深圳市大疆创新科技有限公司 控制方法、控制设备、可移动平台以及存储介质
DE102022102908B3 (de) * 2022-02-08 2023-06-22 Innovated Transport Systems Ug (Haftungsbeschränkt) Fahrzeug für einen Fahrer mit einer auf einem Boden abrollenden Kugel

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2695447A1 (fr) * 1992-09-09 1994-03-11 Courty Claude Roue sans moyeu, à entraînement directionnel.
JP2003326912A (ja) * 2003-04-28 2003-11-19 Rikogaku Shinkokai 全方向車輪および移動車輪
CN101663194A (zh) * 2007-04-20 2010-03-03 本田技研工业株式会社 全方向驱动装置及使用其的全方向移动车
CN102245397A (zh) * 2008-11-04 2011-11-16 本田技研工业株式会社 摩擦式驱动装置及使用该摩擦式驱动装置的全方向移动体
CN104494721A (zh) * 2014-12-02 2015-04-08 中国矿业大学 基于麦克纳姆轮的摇杆式全方位移动平台

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100469599C (zh) * 2006-01-21 2009-03-18 白云山 滚球式万向轮
JP5057130B2 (ja) * 2006-02-07 2012-10-24 建二郎 多田隈 全方向移動体用球状車輪および全方向移動体
CN101657347B (zh) * 2007-04-20 2012-03-28 本田技研工业株式会社 全方向驱动装置以及使用该全方向驱动装置的全方向移动车
JP2009234524A (ja) * 2008-03-28 2009-10-15 Sony Corp 搬送装置と駆動機構
TW201024114A (en) * 2008-12-26 2010-07-01 Univ Chung Hua Omnidirectional wheel transmission device
US8459383B1 (en) * 2010-07-09 2013-06-11 Daniel Burget Spherical drive system
US20130257138A1 (en) * 2012-03-29 2013-10-03 Feng-Jung Chang Multi-directional driving mechanism of a spheric wheel
JP2013255673A (ja) * 2012-06-13 2013-12-26 Panasonic Corp 走行車の走行方法
CN102700358A (zh) * 2012-06-19 2012-10-03 杭州电子科技大学 多排式全向轮
JP2014161991A (ja) * 2013-02-28 2014-09-08 Nsk Ltd ロボットの移動機構及びそれを備えるロボット
JP2016049921A (ja) * 2014-09-02 2016-04-11 トヨタ自動車株式会社 車輪駆動装置
KR101626862B1 (ko) * 2015-07-28 2016-06-03 계룡환경주식회사 볼구동 유닛 및 이를 포함하는 볼구동 이동장치
CN105058398B (zh) * 2015-08-04 2017-03-22 北京理工大学 一种球形轮移动机器人及其测速方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2695447A1 (fr) * 1992-09-09 1994-03-11 Courty Claude Roue sans moyeu, à entraînement directionnel.
JP2003326912A (ja) * 2003-04-28 2003-11-19 Rikogaku Shinkokai 全方向車輪および移動車輪
CN101663194A (zh) * 2007-04-20 2010-03-03 本田技研工业株式会社 全方向驱动装置及使用其的全方向移动车
CN102245397A (zh) * 2008-11-04 2011-11-16 本田技研工业株式会社 摩擦式驱动装置及使用该摩擦式驱动装置的全方向移动体
CN104494721A (zh) * 2014-12-02 2015-04-08 中国矿业大学 基于麦克纳姆轮的摇杆式全方位移动平台

Also Published As

Publication number Publication date
JPWO2018003886A1 (ja) 2019-06-13
TW201801953A (zh) 2018-01-16
CN109414956A (zh) 2019-03-01
WO2018003886A1 (ja) 2018-01-04
JP6951611B2 (ja) 2021-10-20
TWI761354B (zh) 2022-04-21

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