MOVABLE OBJECT WITH WHEEL AND METHOD FOR OPERATING THE SAME

Abstract

In a method for operating a movable object, wherein the movable object comprises two or more wheels spaced apart from each other in at least one forward / backward direction, and two or more eccentric drive parts are each configured to connect a wheel and the body part, the two or more eccentric drive parts can be controlled such that an angle defined between the body part and a ground surface is minimized in a range in which the second side is positioned within the angle of rotation by which the second side can be rotated about the first side.

Description

TECHNICAL AREA

[0001] The present disclosure relates to a movable object with wheels and a method for operating it. BACKGROUND

[0002] In the case of an eccentric drive device configured to change a relative position between a wheel and a mobility vehicle body provided in a mobility vehicle, the mobility vehicle can advantageously operate in a state in which movement of the mobility vehicle body on uneven terrain is minimized by operating the eccentric drive device.

[0003] With the increasing demand for mobility vehicles, there is also a growing need for configurations that efficiently control these vehicles to fulfill their purpose. For example, if the mobility vehicle is used to transport objects, the vehicle body onto which the objects are loaded must move while maintaining a state in which the vehicle is positioned as parallel to the ground surface as possible, regardless of the ground surface's condition. SUMMARY

[0004] An embodiment of the present disclosure may enable a mobility vehicle to move while maintaining a state in which a mobility vehicle body, forming a body of the mobility vehicle, can be positioned as parallel as possible to a ground surface, regardless of the state of the ground surface.

[0005] To achieve the aforementioned advantages, an embodiment of the present disclosure may provide a movable object comprising: a body part; wheels provided on one side of the body part; and eccentric drive parts, each configured to connect the wheel and the body part, and configured to change a relative position between the wheel and the body part, wherein the eccentric drive part may comprise a connecting element having a first side rotatably coupled to the wheel and a second side rotatably coupled to the body part, and wherein the eccentric drive part may operate such that an angle of rotation by which the second side may be rotated about the first side may be restricted within a predetermined or selected range.

[0006] The eccentric drive part can operate in such a way that the angle of rotation by which the second side can be rotated around the first side is less than 180 degrees.

[0007] The eccentric drive part can operate in such a way that the second side is always positioned inwards from the first side, based on a forward / backward direction of the moving object.

[0008] To achieve the aforementioned advantages, an embodiment of the present disclosure may provide a method for operating the movable object, wherein the movable object comprises: two or more wheels spaced apart from each other at least in a forward / reverse direction; and two or more eccentric drive parts, each configured to connect the wheel and the body part, and wherein the two or more eccentric drive parts can be controlled such that an angle defined between the body part and a ground surface can be minimized in a range in which the second side is positioned within the angle of rotation by which the second side is rotatable about the first side.

[0009] The angle of rotation by which the second side can rotate around the first side of the connecting element of each of the eccentric drive parts can be adjusted to be less than 180 degrees.

[0010] The second side of the connecting element of each of the eccentric drive parts can always be positioned outside of the first side, based on a forward / reverse direction of the moving object.

[0011] An embodiment of the method of the present disclosure may include: a first target setting operation in which a target height of the body part with respect to the ground surface and a target angle of the body part with respect to the ground surface are set; and a first determination operation in which, based on the first target setting operation, it is determined whether the second side of the connecting element of each of the eccentric drive parts is positioned within the angle of rotation by which the second side can be rotated about the first side.

[0012] In the first determination process, based on the target setting process in a state where the body part is held parallel to the ground surface, it can be determined whether the second side of the connecting element of each of the eccentric drive parts is positioned within the angle of rotation by which the second side can be rotated about the first side.

[0013] An embodiment of the method of the present disclosure may further comprise: a process of adjusting the body part position in which a height of the body part is adjusted in an upward / downward direction when, in the first determining process, it is determined that the second side of each of at least some of the connecting elements of the eccentric drive parts deviates from the angle of rotation by which the second side is rotatable about the first side.

[0014] The process of adjusting the body part posture may include lowering the body part to decrease the height of the body part in an upward / downward direction in i) a state in which the body part is parallel to the ground surface, and ii) a state in which the second side of the connecting element, which is determined to be different from an upper limit, is positioned on the upper limit of the angle of rotation, if in the first determination process it is determined that the connecting element, the second side of which is determined to be different from the angle of rotation by which the second side is rotatable about the first side, differs from the upper limit of two opposite limits in the upward / downward direction of the angle of rotation.

[0015] The process of adjusting the body part posture may involve raising the body part to increase the height of the body part in an upward / downward direction in i) a state in which the body part is parallel to the ground surface, and ii) a state in which the second side of the connecting element, which is determined to be different from a lower limit, is positioned on the lower limit of the angle of rotation, if in the first determining process it is determined that the connecting element, the second side of which is determined to be different from the angle of rotation by which the second side is rotatable about the first side, differs from the lower limit of two opposite limits in the upward / downward direction of the angle of rotation.

[0016] The process of adjusting the body part posture may include tilting the body part to adjust its height while tilting the body part so that it has a predetermined or selected angle with respect to the ground surface, if in the first determination process it is determined that the connecting elements of some of the eccentric drive parts deviate from an upper limit of two opposing limits in the upward / downward direction of the rotation angle, and the connecting elements of some of the other eccentric drive parts deviate from a lower limit of the two opposing limits in the upward / downward direction of the rotation angle.

[0017] Tilting the body part can adjust the height of the body part in i) a state in which the second side of the connecting element, which is determined in the first determination process to deviate from the upper limit, is positioned on the upper limit of the rotation angle, and ii) a state in which the second side of the connecting element, which is determined in the first determination process to deviate from the lower limit, is positioned on the lower limit of the rotation angle, if in the first determination process it is determined that the connecting elements of some of the eccentric drive parts deviate from the upper limit of the two opposite limits in the upward / downward direction of the rotation angle and the connecting elements of some of the other eccentric drive parts deviate from the lower limit of the two opposite limits in the upward / downward direction of the rotation angle.

[0018] The tilting of the body part can derive an angle defined between the body part and the ground surface from a relationship of the formula between i) a height of the second side of each of the connecting elements provided in the movable object, ii) a height of the body part and iii) the angle defined between the body part and the ground surface, and tilts the body part according to the derived angle.

[0019] The tilting of the body part allows the angle of the body part relative to the ground surface to be derived from the relation formula using a pseudoinverse.

[0020] According to one embodiment of the present disclosure, a mobility vehicle can drive while maintaining the state in which the mobility vehicle body, which forms the body of the mobility vehicle, can be positioned as parallel as possible to the ground surface, regardless of the state of the ground surface. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view illustrating a movable object according to an embodiment of the present disclosure and illustrating a state that arises before the movable object passes over a low obstacle. Fig. 2 is a side view illustrating a state in which the moving object is in Fig. 1 drives over the low obstacle. Fig. Figure 3 is a side view illustrating a movable object according to an embodiment of the present disclosure and illustrating an initial state in which the movable object is traveling over a high obstacle. Fig. 4 is a side view illustrating a latter state in which the moving object is in Fig. 3 drives over the high obstacle. Fig. Figure 5 is an enlarged side view illustrating a state in which a connecting element of the movable object according to an embodiment of the present disclosure is coupled to a body part and a wheel. Fig. Figure 6 is a flowchart illustrating a method for operating the movable object according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF ILLUSTRATORY EXECUTION FORMS

[0021] In the following, with reference to the drawings, a movable object and a method for operating it are described according to exemplary embodiments of the present disclosure.

[0022] Fig. Figure 1 is a side view illustrating a movable object according to an embodiment of the present disclosure and illustrating a state that arises before the movable object passes over a low obstacle. Fig. 2 is a side view illustrating a state in which the moving object is in Fig. 1 drives over the low obstacle. Fig. Figure 3 is a side view illustrating a movable object according to an embodiment of the present disclosure and illustrating an initial state in which the movable object is traveling over a high obstacle. Fig. 4 is a side view illustrating a latter state in which the moving object is in Fig. 3 drives over the high obstacle. Fig. Figure 5 is an enlarged side view illustrating a state in which a connecting element of the movable object according to an embodiment of the present disclosure is coupled to a body part and a wheel.

[0023] A movable object 10 according to an embodiment of the present disclosure may comprise: a body part 100 configured to define a body of the movable object; wheels 200 provided on one side of the body part 100; and eccentric drive parts 300, each configured to connect a wheel 200 and the body part 100, and configured to change a relative position between the wheel 200 and the body part 100. Fig. Figures 1 to 5 illustrate exemplary embodiments in which the wheels 200 are provided in the front and rear regions of the body part 100, respectively, so that the two wheels 200 can be spaced apart from each other in the forward / reverse direction. For example, however, the movable object 10 according to one embodiment of the present disclosure can comprise four wheels 200 (e.g., two wheels on each side of the body part 100). In such a case, the two wheels 200 can be provided on the left and right sides of the front region of the body part 100, respectively, and the two remaining wheels 200 can be provided on the left and right sides of the rear region of the body part 100, respectively.

[0024] The eccentric drive part 300 can comprise a connecting element 310 with a first side 310a rotatably coupled to the wheel 200 and a second side 310b rotatably coupled to the body part 100. According to one embodiment of the present disclosure, when the second side 310b rotates about the first side 310a, the angle of the connecting element 310 with respect to a ground surface can be changed such that the relative position between the wheel 200 and the body part 100 can be altered.

[0025] In such a case, according to one embodiment of the present disclosure, the aforementioned eccentric drive element 300 can operate such that the angle of rotation by which the second side 310b can be rotated about the first side 310a can be limited within a predetermined or selected range. The aforementioned predetermined or selected range can be a preset range. That is, according to one embodiment of the present disclosure, the connecting element 310 can be configured so that it does not rotate infinitely. For example, the eccentric drive element 300 can operate such that the angle of rotation by which the second side 310b can be rotated about the first side 310a is less than 180 degrees, and the second side 310b can always be positioned inwards from the first side 310a based on a forward / backward direction of the moving object 10.This can serve to ensure that, during an operating process of the eccentric drive part 300, a supporting force of the ground surface is always exerted on the wheel 200, regardless of the relative position of the connecting element 310. In particular, in the case of the connecting element 310 connected to the wheel 200 located in the front region of the body part 100 beneath the plurality of wheels 200, the second side 310b can always be positioned rearward from the first side 310a. In the case of the connecting element 310 connected to the wheel 200 located in the rear region of the body part 100 beneath the plurality of wheels 200, the second side 310b can always be positioned forward from the first side 310a.

[0026] Fig. Figure 6 is a flowchart illustrating a method for operating a movable object according to an embodiment of the present disclosure.

[0027] In a method for operating the movable object 10 according to an embodiment of the present disclosure, the movable object 10 may comprise two or more wheels 200, which are spaced apart from each other at least in the forward / reverse direction, and two or more eccentric drive parts 300, which are configured to connect the wheels 200 and the body part 100 (see e.g. Fig. 1-5). For example, the movable object 10 can comprise two wheels provided in the front area of ​​the body part 100 and two wheels provided in the rear area of ​​the body part 100.

[0028] In a method for operating the movable object 10 according to an embodiment of the present disclosure, the two or more eccentric drive parts 300 can be controlled such that an angle defined between the body part 100 and the ground surface can be minimized within a range in which the second side 310b is positioned within the angle of rotation by which the second side 310b can be rotated about the first side 310a.In particular, in a method for operating the movable object according to an embodiment of the present disclosure, the angle of rotation by which the second side 310b is rotatable about the first side 310a of the connecting element 310 of the eccentric drive part 300 can be set to less than 180 degrees, and the movable object can be operated such that the second side 310b of the connecting element 310 of the eccentric drive part 300 can always be positioned inwards from the first side 310a based on the forward / reverse direction of the movable object 10.

[0029] With reference to Fig. 6. The method for operating the movable object according to an embodiment of the present disclosure may include a first target setting operation in which a target height of the body part 100 relative to the ground surface is set and a target angle of the body part 100 relative to the ground surface is set (operation 610). The aforementioned first target setting operation may be performed in a case in which the movable object encounters an obstacle positioned in front of the movable object and the movable object must pass over an obstacle during an operation of the movable object.

[0030] A method for operating the movable object according to an embodiment of the present disclosure may further comprise a first determination operation in which, based on the first target setting operation, it is determined whether the second side 310b of each of the connecting elements 310 of the eccentric drive parts 300 of the movable object is positioned within the angle of rotation by which the second side 310b can be rotated about the first side 310a. In particular, in the first determination operation, based on the first target setting operation in a state in which the body part 100 is held parallel to the ground surface, it may be determined whether the second side 310b of each of the connecting elements 310 of the eccentric drive parts 300 is positioned within the angle of rotation by which the second side 310b can be rotated about the first side 310a (operation 620).

[0031] A method for operating the movable object according to an embodiment of the present disclosure may further comprise a process of adjusting the body part posture, in which a height of the body part 100 is adjusted in an upward / downward direction (i.e., a relative height with respect to the ground surface) when, in the first determining process, it is determined that the second side 310b of each of at least some of the connecting elements 310 of the eccentric drive parts 300 deviates from the angle of rotation by which the second side 310b is rotatable about the first side 310a.

[0032] The case in which the second side 310b of the connecting element 310 of the eccentric drive part 300 of the movable object 10 deviates from the angle of rotation can be roughly divided into: i) a case in which the second side 310b deviates from an upper limit A (see Fig. 5) deviates from two opposite limits in the upward / downward direction of the rotation angle, and ii) a case in which the second side 310b deviates from a lower limit B (see Fig. 5) the two opposite boundaries deviate in the upward / downward direction of the rotation angle.

[0033] In such a case, according to one embodiment of the present disclosure, the process of adjusting the body part posture may include lowering the body part to decrease the height of the body part 100 in the upward / downward direction (process 630), and raising the body part to increase the height of the body part 100 in the upward / downward direction (process 640).In particular, the process of adjusting the body part posture may include lowering the body part to decrease the height of the body part 100 in the upward / downward direction (process 630), in i) a state in which the body part 100 is parallel to the ground surface, and ii) a state in which the second side 310b of the connecting element 310, which can be determined to be deviating from the upper limit A, is positioned on the upper limit A of the angle of rotation in the case that, in the first determination process mentioned above, it is determined that the connecting element 310, whose second side 310b is determined to be deviating from the angle of rotation by which the second side 310b is rotatable about the first side 310a, deviates from the upper limit A of the two opposite limits in the upward / downward direction of the angle of rotation.

[0034] The process of adjusting the body part posture may further include raising the body part to increase the height of the body part 100 in the upward / downward direction (process 640), in i) a state in which the body part 100 is parallel to the ground surface, and ii) a state in which the second side 310b of the connecting element 310, which is determined to be deviating from the lower limit B, is positioned on the lower limit B of the angle of rotation in the case that, in the first determination process mentioned above, it is determined that the connecting element 310, whose second side 310b is determined to be deviating from the angle of rotation by which the second side 310b is rotatable about the first side 310a, deviates from the lower limit B of the two opposite limits in the upward / downward direction of the angle of rotation.

[0035] In particular, as in Fig. Figure 1 illustrates, in a case where an obstacle is located in front of the movable object 10, in a state where the second side 310b of the connecting element 310, which is connected to the wheel 200 provided on the front of the movable object 10, is positioned near the lower boundary B (see Fig. 5) the wheel provided at the front is lifted 200 over the obstacle, as shown in Fig. 2 illustrated. In such a case, according to one embodiment of the present disclosure, in the first determination process mentioned above, the second side 310b can be determined to deviate from the lower boundary B (see Fig. 5) Therefore, during the process of adjusting the body part's posture, the lifting of the body part can be carried out as described above. In such a case, the lifting of the body part can be carried out by adjusting the position of the second side 310b of the connecting element 310, which is connected to the wheel 200 provided at the rear.

[0036] In the aforementioned first determination process, in a case where the second sides 310b of the majority of connecting elements 310 are determined to deviate from the angle of rotation, the second sides 310b of some of the connecting elements 310 can be determined to deviate from the upper boundary A, whereas the second sides 310b of some of the other connecting elements 310 can be determined to deviate from the lower boundary B. In such a case, the method can further comprise tilting the body part 100 so that the body part 100 has a predetermined or selected angle with respect to the ground surface, such that, according to one embodiment of the present disclosure, the body part 100 is not parallel to the ground surface.

[0037] In particular, according to one embodiment of the present disclosure, the process of adjusting the body part posture may further include tilting the body part to adjust the height of the body part 100 while the body part 100 is tilted such that the body part 100 has a predetermined or selected angle with respect to the ground surface in a case in which, in the aforementioned first determination process, it is determined that the connecting elements 310 of some of the eccentric drive parts 300 deviate from the upper limit A of the two opposite limits in the upward / downward direction of the angle of rotation and that the connecting elements 310 of some of the other eccentric drive parts 300 deviate from the lower limit B of the two opposite limits in the upward / downward direction of the angle of rotation.Tilting the body part can be carried out in a case where the body part 100 cannot continue over the obstacle that may be arranged in front of the moving object 10 in the state in which the body part 100 is held parallel to the ground surface.

[0038] In particular, the aforementioned tilting of the body part can adjust the height of the body part 100, namely in i) a state in which the second side 310b of the connecting element 310, which is determined in the first determination operation to be deviating from the upper limit A, is positioned on the upper limit A of the rotation angle, and ii) a state in which the second side 310b of the connecting element 310, which is determined in the first determination operation to be deviating from the lower limit B, is positioned on the lower limit B of the rotation angle in the case that in the aforementioned first determination operation it is determined,that the connecting elements of some of the eccentric drive parts deviate from the upper limit of the two opposing limits in the upward / downward direction of the rotation angle, and the connecting elements of some of the other eccentric drive parts deviate from the lower limit of the two opposing limits in the upward / downward direction of the rotation angle.

[0039] In particular, as in Fig. Figure 4 illustrates that the body part 100 is inclined in a case where the body part 100 must travel over the obstacle in a state where the second side 310b of the connecting element 310, which is connected to the wheel 200 provided on the front of the movable object 10, is positioned on the lower boundary B (see Figure 4). Fig. 5) and the second side 310b of the connecting element 310, which is connected to the wheel 200, which is provided on the rear of the movable object 10, is positioned on the upper boundary A (see Fig. 5), namely during the process in which the movable object 10 passes over the obstacle that is arranged in front of the movable object 10, as in Fig. Figure 3 illustrates this. That is, according to one embodiment of the present disclosure, it may be that the body part 100 cannot continue to be held parallel to the ground surface in the situation mentioned above. Even in such a case, according to one embodiment of the present disclosure, the movable object can operate in such a way that the angle of the body part 100 with respect to the ground surface can be minimized, even in a case where the body part 100 is inclined. That is, based on Fig.4 According to one embodiment of the present disclosure, when the body part is tilted as described above, the body part 100 can be tilted in a state in which the second side 310b of the connecting element 310, which is connected to the wheel 200 provided at the front, is positioned on the lower boundary B and the second side 310b of the connecting element 310, which is connected to the wheel 200 provided at the rear, is positioned on the upper boundary A. Therefore, the body part can be tilted in the state in which the angle defined between the body part 100 and the ground surface is minimized.

[0040] The aforementioned tilting of the body part can derive the angle defined between the body part 100 and the ground surface from a relational formula between i) the height of the second side 310b of each of the connecting elements 310 provided in the movable object 10, ii) the height of the body part 100, and iii) the angle defined between the body part 100 and the ground surface (operations 650 and 660), and tilt the body part 100 according to the derived angle. For example, the aforementioned tilting of the body part can derive the angle of the body part 100 with respect to the ground surface from the relational formula using a pseudoinverse.

[0041] Exemplary embodiments of the present disclosure have been described with reference to the drawings; however, the present disclosure is not necessarily limited thereto. Embodiments of the present disclosure can be carried out in various forms by those skilled in the field to which the present disclosure relates, within the technical spirit of the present disclosure and the scope of protection of the accompanying claims. 10 movable object 100 body parts 200 wheel 300 eccentric drive part 310 Connecting element 310a first side of the connecting element 310b second side of the connecting element An upper limit B lower limit

Claims

[1] Movable object, comprising: a body part; Wheels that are provided on one side of the body part; and eccentric drive parts, each of the eccentric drive parts being configured to connect a predetermined wheel of the wheels and the body part, and each of the eccentric drive parts being configured that it changes a relative position between the given wheel and the body part, wherein each of the eccentric drive parts comprises a connecting element, the first side of which is rotatably coupled to the predetermined wheel and the second side of which is rotatably coupled to the body part; and wherein each of the eccentric drive parts is configured to operate in such a way that the angle of rotation by which the second side can rotate around the first side is limited within a selected range. [2] Movable object according to claim 1, wherein each of the eccentric drive parts is configured to operate such that the angle of rotation by which the second side can be rotated about the first side is less than 180 degrees. [3] Movable object according to claim 1, wherein each of the eccentric drive parts is configured to operate such that the second side is always positioned inwards from the first side based on a forward / reverse direction of the movable object. [4] Method for operating a movable object comprising a body part, a plurality of wheels spaced apart in the forward / reverse direction, and a plurality of eccentric drive parts, wherein each eccentric drive part is configured to connect an associated wheel and the body part, wherein each of the eccentric drive parts comprises a connecting element, the first side of which is rotatably coupled to the specified wheel and the second side of which is rotatably coupled to the body part, wherein the method comprises: Controlling the eccentric drive components to change the relative position between the associated wheel and the body part so that an angle, which is defined between the body part and a ground surface, is minimized in an area where the second side is positioned within an angle of rotation by which the second side can be rotated about the first side, the angle of rotation being limited within a selected area. [5] Method according to claim 4, further comprising adjusting the angle of rotation by which the second side is rotatable about the first side of the connecting element of each of the eccentric drive parts, such that this angle is less than 180 degrees. [6] Method according to claim 4, further comprising limiting a position of the second side of the connecting element of each of the eccentric drive parts, such that, based on a forward / reverse direction of the moving object, it is always positioned outside of the first side. [7] The method of claim 4, comprising: Performing an initial target setting operation, wherein the initial target setting operation comprises setting a target height of the body part relative to the ground surface and setting a target angle of the body part relative to the ground surface; and Performing an initial determination procedure, in which, based on the initial target setting procedure, it is determined whether the second side of the connecting element of each of the eccentric drive parts is positioned within the angle of rotation by which the second side can be rotated about the first side. [8] Method according to claim 7, wherein in the first determination process, based on the setting of the target angle, it is determined whether the second side of the connecting element of each of the eccentric drive parts is positioned within the angle of rotation by which the second side can be rotated about the first side in a state in which the body part is held parallel to the ground surface. [9] The method of claim 7, further comprising: a process of adjusting the posture of a body part in which the height of the body part is adjusted in an upward / downward direction, based on the determination in the first determining process that the second side of each of at least some of the connecting elements of the eccentric drive parts deviates from the angle of rotation by which the second side can be rotated about the first side. [10] Method according to claim 9, wherein the process of adjusting the body part posture comprises lowering the body part to reduce the height of the body part in an upward / downward direction in a state in which the body part is parallel to the ground surface and in the state in which the second side of the connecting element, which is determined to be deviating from an upper limit, is positioned on the upper limit of the angle of rotation, based on the determination in the first determining process that the connecting element, the second side of which is determined to be deviating from the angle of rotation by which the second side is rotatable about the first side, deviates from the upper limit of two opposing limits in the upward / downward direction of the angle of rotation. [11] Method according to claim 9, wherein the process of adjusting the body part posture comprises lifting the body part to increase the height of the body part in an upward / downward direction in a state in which the body part is parallel to the ground surface and in the state in which the second side of the connecting element, which is determined to be deviating from a lower limit, is positioned on the lower limit of the angle of rotation, based on the determination in the first determining process that the connecting element, the second side of which is determined to be deviating from the angle of rotation by which the second side is rotatable about the first side, deviates from the lower limit of two opposing limits in the upward / downward direction of the angle of rotation. [12] Method according to claim 9, wherein the process of adjusting the body part posture comprises tilting the body part to adjust the height of the body part while the body part is tilted so that the body part has a selected body angle with respect to the ground surface, based on the determination in the first determining process that the connecting elements of a first set of eccentric drive parts deviate from an upper limit of two opposing limits in the upward / downward direction of the rotation angle and the connecting elements of a second set of eccentric drive parts deviate from a lower limit of the two opposing limits in the upward / downward direction of the rotation angle. [13] Method according to claim 12, wherein the tilting of the body part adjusts the height of the body part in a state in which the second side of the connecting element, which is determined in the first determination process to be different from the upper limit, is positioned on the upper limit of the rotation angle, and in the state in which the second side of the connecting element, which is determined in the first determination process to be different from the lower limit, is positioned on the lower limit of the rotation angle, based on the determination in the first determination process,that the connecting elements of a first set of eccentric drive parts deviate from the upper limit of the two opposing limits in the upward / downward direction of the rotation angle, and the connecting elements of a second set of eccentric drive parts deviate from the lower limit of the two opposing limits in the upward / downward direction of the rotation angle. [14] Method according to claim 13, wherein the tilting of the body part derives a derived angle, defined between the body part and the ground surface, from a relational formula between a first height of the second side of each of the connecting elements provided in the movable object, a second height of the body part and the ground angle defined between the body part and the ground surface, and tilts the body part according to the derived angle. [15] Method according to claim 14, wherein the tilting of the body part derives the derived angle of the body part with respect to the ground surface from the relation formula using a pseudoinverse. [16] Method for operating a movable object, wherein the method comprises controlling a first connecting element and a second connecting element, wherein the movable object comprises the first connecting element, the second connecting element, a first wheel, a second wheel and a body part to control a body height of the body part relative to a ground surface and to control a body angle of the body part relative to the ground surface, wherein a first connecting element side of the first connecting element is rotatably coupled to the first wheel, wherein a second connecting element side of the first connecting element is rotatably coupled to a first body part side of the body part, wherein a first connecting element side of the second connecting element is rotatably coupled to the second wheel, wherein a second connecting element side of the second connecting element is rotatably coupled to a second body part side of the body part, and wherein controlling the first connecting element and the second connecting element comprises ensuring that the second connecting element side of the first connecting element and the second connecting element side of the second connecting element remain positioned between the first connecting element side of the first connecting element and the first connecting element side of the second connecting element. [17] Method according to claim 16, wherein a first rotation angle about which the second connecting element side of the first connecting element is rotatable about the first connecting element side of the first connecting element is limited to less than 180 degrees. [18] Method according to claim 17, wherein a second angle of rotation about which the second connecting element side of the second connecting element is rotatable about the first connecting element side of the second connecting element is limited to less than 180 degrees. [19] Method according to claim 16, wherein the control of the first connecting element and the second connecting element is carried out in such a way that the body angle is minimized. [20] Method according to claim 16, wherein the first connecting element and the second connecting element are controlled such that the body angle is kept at zero.

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