Patent ID: 10450014

Abstract:
A traveling apparatus that can be moved in two directions includes a body 1, a pair of crawler units 5, crawler actuators 40 and rolling actuators 60. The crawler units 5 are supported by the body 1 such that the crawler units 5 are rotatable about a rotational axis L1. The traveling apparatus performs crawler moving in a direction of the rotational axis L1 by the crawler actuator 40 driving pairs of crawler structures 20A, 20B of the crawler units 5. The traveling apparatus performs moving by rolling in a direction orthogonal to the rotational axis L1 by the rolling actuator 60 making the crawler units 5 roll about the rotational axes L1. To prepare for the crawler moving, the crawler units 5 are made to roll to take a movable attitude based on attitude information of the crawler units 5 from rotary encoders 72.