A movable robot includes a main body unit and at least three wheel units. The wheel units are connected with the main body unit. The wheel units at least partially project from the main body unit. The wheel units have contact portions for contact with a floor surface. Rotation drive devices operate for rotating the wheel units independently of each other. The main body unit is moved along the floor surface as the wheel units are rotated by the rotation drive devices. Lines projected onto the floor surface and originating from axes of rotation of the wheel units are spaced at substantially equal angular intervals.
1. A movable robot comprising:
a main body unit;
at least three wheel units having contact portions for contact with a floor surface and at least partially projecting from the main body unit;
rotation drive devices for rotating the wheel units independently of each other;
leg portions connecting the main body unit and the wheel units and having axes respectively; and
means for moving the main body unit along the floor surface as the wheel units are rotated by the rotation drive devices;
wherein the axes of the leg portions coincide with axes of rotation of the wheel units respectively, and the axes of rotation of the wheel units intersect at a point, and wherein lines projected onto the floor surface and originating from the axes of rotation of the wheel units are spaced at substantially equal angular intervals.
2. A movable robot as recited in claim 1 , wherein at most two of the axes of rotation of the wheel units are on a common plane.
3. A movable robot as recited in claim 1 , wherein the leg portions are axially movable relative to the main body unit, and further comprising axial-motion drive devices for axially moving the leg portions relative to the main body unit.
4. A movable robot as recited in claim 1 , wherein each of the contact portions has a convex surface substantially extending along a part of a sphere.
5. A movable robot comprising:
a main body unit;
at least three wheel units connected with the main body unit and at least partially projecting from the main body unit, the wheel units having contact portions for contact with a floor surface;
rotation drive devices for rotating the wheel units independently of each other;
means for moving the main body unit along the floor surface as the wheel units are rotated by the rotation drive devices;
an external condition sensor for detecting a condition of an external with respect to the main body unit;
an output device for outputting information to the external with respect to the main body unit;
a memory storing a control program for implementing prescribed processing in response to the external condition detected by the external condition sensor; and
a controller for deciding contents of information to be outputted from the output device and also contents of control of the rotation drive devices on the basis of the control program and the external condition detected by the external condition sensor, and for controlling the output device and the rotation drive devices in accordance with the decided contents of information to be outputted from the output device and also the decided contents of control of the rotation drive devices;
wherein lines projected onto the floor surface and originating from axes of rotation of the wheel units are spaced at substantially equal angular intervals.
6. A movable robot as recited in claim 5 , further comprising:
axially-movable leg portions connecting the main body unit and the wheel units;
axial-motion drive devices for axially moving the leg portions relative to the main body unit; and
means provided in the controller for controlling the axial-motion drive devices.
7. A movable robot as recited in claim 5 , wherein the external condition sensor comprises a first sub sensor for detecting a specified condition of the external with respect to the main body unit, and a second sub sensor for detecting a pressure applied to the main body unit from the external with respect to the main body unit.
8. A movable robot as recited in claim 5 , further comprising a communication device for implementing radio communications between the controller and an external device.