Patent ID: 8083625

Claim:
A driving force transmission device for transmitting driving force of a first motor and a second motor, angular speeds of which are controlled independently, to a first driven member and a second driven member, the driving force transmission device comprising: a first differential unit including: a first input shaft connected to a first rotation shaft of the first motor; a second input shaft connected to a second rotation shaft of the second motor; and a first output shaft connected to the first driven member; and a second differential unit including: a third input shaft connected to the first rotation shaft of the first motor; a fourth input shaft connected to the second rotation shaft of the second motor; and a second output shaft connected to the second driven member; wherein an angular speed of the first output shaft is a sum of a times the angular speed of the first motor and b times the angular speed of the second motor, wherein an angular speed of the second output shaft is a sum of c times the angular speed of the first motor and d times the angular speed of the second motor, and wherein a, b, c and d satisfy a relation of ad−bc≠0.