Patent ID: 6896078

Claim:
A movable robot comprising: a main body unit; and at least three wheel units connected with the main body unit and having respective contact portions for contact with a floor surface, the contact portions being rotatable about respective axes; wherein the main body unit moves along the floor surface as the contact portions rotate, and wherein lines projected onto the floor surface and originating from the axes of rotation of the contact portions are spaced at substantially equal angular intervals, and at most two of the axes are on a common plane; wherein each of the wheel units comprises: 1) a motor base; 2) a rotation drive motor supported on the motor base; 3) a casing being rotatable relative to the motor base about related one of the axes and having related one of the contact portions; and 4) a rotational force transmission device connected between the rotation drive motor and the casing for transmitting a rotational force generated by the rotation drive motor to the casing.