Moving body

Abstract

To provide a technique related to a moving body using fluid pressure actuators.SOLUTION: A moving body 10 comprises: a driving unit 80 comprising a basic member 18, and a plurality of curved type fluid pressure actuators arranged in such a manner that one end in a longitudinal direction is attached to the basic member 18; a supply part 16 for supplying a fluid to the plurality of curved type fluid pressure actuators; and a control part 14 for controlling the shapes of the plurality of curved type fluid pressure actuators by changing the pressure of the fluid to be supplied to the curved type fluid pressure actuators from the supply part 16. The control part 14 moves a gravity center G of the basic member 18 in a traveling direction F by deforming the plurality of curved type fluid pressure actuators.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This disclosure relates to a moving body.

Background Art

[0002] Patent Document 1 discloses a robot hand including a fluid pressure actuator variable in a direction orthogonal to the axial direction, and a mounting base for mounting the fluid pressure actuator, wherein in a state where no pressure of the fluid is applied, the fluid pressure actuator is fixed to the mounting base while being inclined outward in the bending direction of the fluid pressure actuator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] This disclosure aims to provide a technique related to a moving body using a fluid pressure actuator.

Means for Solving the Problems

[0005] A moving body according to a first aspect includes a driving unit having a backbone member and a plurality of curved fluid pressure actuators radially arranged with respect to the backbone member, one end in the longitudinal direction being attached to the backbone member, a supply unit for supplying fluid to the plurality of curved fluid pressure actuators, and a control unit for changing the pressure of the fluid supplied from the supply unit to the curved fluid pressure actuators to control the shape of the plurality of curved fluid pressure actuators, wherein the control unit deforms the plurality of curved fluid pressure actuators to move the center of gravity of the backbone member in the traveling direction.

[0006] In the mobile body according to this aspect, the control unit deforms a plurality of curved fluid pressure actuators radially arranged on the main member to move the center of gravity of the main member in the traveling direction. Accordingly, according to the mobile body of this aspect, a mobile body using a fluid pressure actuator can be obtained.

[0007] In the mobile body of the second aspect, in the mobile body according to the first aspect, the control unit bends and deforms a first curved fluid pressure actuator that is located below the main member and on the traveling direction side among the plurality of curved fluid pressure actuators in a direction opposite to the traveling direction, thereby moving the center of gravity of the main member in the traveling direction beyond the end of the first curved fluid pressure actuator, and executes a rotation mode of rotating the main member in the traveling direction.

[0008] In the mobile body according to this aspect, the control unit moves the center of gravity of the main member in the traveling direction beyond the end of the curved fluid pressure actuator, and executes a rotation mode of rotating the main member in the traveling direction. Therefore, according to the mobile body of this aspect, a mobile body that moves while rotating the entire main member in the traveling direction can be obtained.

[0009] In the mobile body of the third aspect, in the mobile body according to the first or second aspect, the control unit bends and deforms a first curved fluid pressure actuator that is in contact with the ground and on the traveling direction side of the center of gravity of the main member and a second curved fluid pressure actuator that is in contact with the ground and on the opposite side of the traveling direction of the center of gravity of the main member from the traveling direction side to the opposite side, thereby executing a jumping mode of moving the main member in the traveling direction while separating the first curved fluid pressure actuator and the second curved fluid pressure actuator from the ground.

[0010] In the mobile body according to this aspect, the control unit executes a jumping mode in which the first curved fluid pressure actuator and the second curved fluid pressure actuator move the main body member in the traveling direction while separating from the ground. Therefore, according to the mobile body according to this aspect, a mobile body that moves while being separated from the ground in the traveling direction can be obtained.

[0011] The mobile body according to the fourth aspect is the mobile body according to any one of the first aspect to the third aspect, wherein the control unit, among the plurality of curved fluid pressure actuators, the first curved fluid pressure actuator in contact with the ground is curved and deformed in a direction opposite to the traveling direction while being fixed to the ground, and a second deformation procedure of bending and deforming the first curved fluid pressure actuator toward the traveling direction side while sliding on the ground, and executes a walking mode of moving the main body member in the traveling direction.

[0012] In the mobile body according to this aspect, the control unit executes the first deformation procedure and the second deformation procedure to execute a walking mode of moving the main body member in the traveling direction. Therefore, according to the mobile body according to this aspect, a mobile body that moves while repeatedly bending and extending a plurality of fluid pressure actuators in the traveling direction can be obtained.

[0013] The mobile body according to the fifth aspect is the mobile body according to any one of the first aspect to the fourth aspect, wherein the lengths of the plurality of curved fluid pressure actuators from the center of the main body member to the end opposite to the one end are all equal.

[0014] In the mobile body according to this aspect, since the lengths of the plurality of curved fluid pressure actuators from the center of the main body member to the end opposite to the one end are all equal, the center of gravity of the main body member is likely to be stable.

[0015] The mobile body according to the sixth aspect is the mobile body according to the fifth aspect, wherein the intervals between the adjacent curved fluid pressure actuators are all equal.

[0016] In the mobile body according to this aspect, since the distances between the plurality of curved fluid pressure actuators are all equal, the possibility that the side opposite to one end of the fluid pressure actuator cannot move without contacting the ground is reduced.

[0017] The mobile body according to the seventh aspect includes, in the mobile body according to the sixth aspect, a plurality of drive units arranged in a direction orthogonal to the traveling direction and the direction in which the plurality of curved fluid pressure actuators are arranged.

[0018] Since the mobile body according to this aspect has a plurality of drive units in a direction orthogonal to the traveling direction and the direction in which the plurality of curved fluid pressure actuators are arranged, it is possible to suppress the mobile body from traveling in an unexpected direction.

Advantages of the Invention

[0019] According to the present disclosure, a technique related to a mobile body using a fluid pressure actuator is provided.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7A

Figure 7B

Figure 8A

Figure 8B

Figure 9A

Figure 9B

Figure 10

Figure 11

MODE FOR CARRYING OUT THE INVENTION

[0021] Hereinafter, embodiments for realizing the technology of the present disclosure will be described in detail with reference to the drawings.

[0022] In addition, components and processes that perform the same functions may be given the same reference numerals throughout the drawings, and redundant descriptions may be omitted as appropriate. Further, the present disclosure is not limited to the following embodiments, and can be implemented with appropriate modifications within the scope of the object of the present disclosure.

[0023] In addition, the "direction of arrow F" in each drawing is an example of the advancing direction in the present disclosure and indicates the front. Also, the "direction of arrow U" in each drawing is an example of the upward direction in the present disclosure. Further, the "direction of arrow D" in each drawing is an example of the direction orthogonal to the advancing direction and the direction in which the plurality of curved fluid pressure actuators are arranged in the present disclosure, and is the depth direction orthogonal to the advancing direction and the upward direction.

[0024] Note that the "direction of arrow X+ " and "direction of arrow X- " in each drawing are examples of the axial direction. Also, the "direction of arrow Z+ " and "direction of arrow Z- " in each drawing are examples of the arrangement direction. Further, the "direction of arrow Y+ " and "direction of arrow Y- " in each drawing are examples of the width direction.

[0025] Note that the "direction of arrow φ+ " and "direction of arrow φ- " in each drawing are examples of the circumferential direction in the present disclosure.

[0026] In the following description, "one side" refers to the "+" side of the arrows X, Y, Z, and φ, and "the other side" refers to the "-" side of the arrows X, Y, Z, and φ. That is, when the axial direction X, width direction Y, arrangement direction Z, and circumferential direction φ are described without attaching "one side" or "the other side", it may refer to both the "+" side and the "-" side.

[0027] <Configuration> As shown in FIGS. 1 to 3, the moving body 10 according to the present disclosure includes a drive unit 80, a supply unit 16, and a control unit 14.

[0028] <Configuration of Drive Unit 80> The drive unit 80 has a pair of side plates 82, a body member 90 connecting the side plates 82 to each other, and a plurality of fluid pressure actuators 20. Note that each fluid pressure actuator 20 is an example of the "curved fluid pressure actuator" in the present embodiment.

[0029] As shown in FIGS. 1 to 3, the body member 90 is a cylindrical member extending in the depth direction D that intersects the traveling direction F and the upward direction U. A plurality of fluid pressure actuators 20 are provided at both ends of the body member 90 in the depth direction D over the entire circumference in the circumferential direction φ so that the intervals between adjacent fluid pressure actuators 20 are equal (arranged at equal intervals). Further, as shown in FIGS. 1 to 3, a supply unit 16 and a control unit 14 are accommodated inside the body member 90.

[0030] The side plates 82 are disc-shaped members attached to both ends of the body member 90 in the depth direction D and close both ends of the body member 90.

[0031] Note that the body member 90 and the side plates 82 may be formed of any material as long as it is a material that does not easily deform, and may also be integrally formed.

[0032] <Configuration of the fluid pressure actuator 20> FIG. 4 shows a fluid pressure actuator 20 according to an embodiment of the present disclosure. The fluid pressure actuator 20 includes an actuator main body portion 22, a sealing member 30, and a sealing member 31.

[0033] As also shown in FIG. 5, the actuator main body portion 22 has a pair of tubes 24, a sleeve 26, a restraint member 28, a locking ring 34, and a caulking member 36.

[0034] The tube 24 is a cylindrical member that can expand and contract due to elastic deformation, and expands and contracts due to a change in the pressure of the fluid inside. Note that in the state where the fluid pressure actuator 20 is assembled, the longitudinal direction of the tube 24 coincides with the axial direction X. Further, as shown in FIG. 6, the tubes 24 are arranged in parallel in the state where the fluid pressure actuator 20 is assembled.

[0035] Note that the tube 24 can be made of an elastic material such as butyl rubber. As the fluid supplied to the tube 24, air can be used. In this case, the fluid pressure actuator 20 becomes a pneumatic actuator. When the fluid pressure actuator 20 is hydraulically driven, it is preferably at least one selected from the group consisting of NBR (nitrile rubber) with high oil resistance, hydrogenated NBR, chloroprene rubber, and epichlorohydrin rubber.

[0036] The sleeve 26 is a cylindrical member that covers the outer periphery of the tube 24. The sleeve 26 is a stretchable structure in which fiber cords oriented in a predetermined direction are woven, and the oriented cords intersect at a predetermined angle θ with respect to the axial direction X. By having such a shape, the sleeve 26 undergoes a pantograph deformation that changes the angle θ and follows the contraction and expansion of the tube 24 while restricting the contraction and expansion of the tube 24.

[0037] As the cords constituting the sleeve 26, it is preferable to use fiber cords of aromatic polyamide (aramid fiber) or polyethylene terephthalate (PET). However, it is not limited to such types of fiber cords, and for example, cords of other high-strength fibers such as PBO fiber (polyparaphenylene benzobisoxazole) may also be used.

[0038] The restraint member 28 is provided between a pair of tubes 24. The restraint member 28 is in the shape of a long plate and is arranged such that its longitudinal direction is along the axial direction X of the tube 24, and it is arranged from one end to the other end of the tube 24 while touching a part of the outer periphery of the tube 24. More specifically, as shown in FIG. 6 described later, the restraint member 28 is sandwiched between the opposing portions where a pair of tubes 24 face each other in a state where the fluid pressure actuator 20 is assembled.

[0039] Note that the restraint member 28 is formed of a material that does not expand or contract under pressure and is capable of flexing and deforming in a direction in which the ends approach each other. As the restraint member 28, a so-called leaf spring can be used. The dimensions of the leaf spring are determined according to the size of the fluid pressure actuator 20, the required gripping force, and the like. Also, the material of the leaf spring is not particularly limited, but typically, a material such as metal, such as stainless steel, that is easily flexibly deformed and resistant to compression may be used. Alternatively, it may be formed of a thin plate of carbon fiber reinforced plastic (CFRP) or the like.

[0040] The locking ring 34 is a ring-shaped member and is disposed outside the sleeve 26 so as to sandwich the sleeve 26 between it and a locking portion 58 described later, and locks the sleeve 26 to the base end portion 40. Thereby, the sleeve 26 is folded back to the outer periphery via the locking ring 34. Note that the locking ring 34 can be made of materials such as metal, hard plastic, fiber, and rubber.

[0041] The caulking member 36 is disposed so as to cover a portion of the outer periphery of the actuator main body portion 22 where the insertion portion 50 is inserted, and crimps the actuator main body portion 22 to the insertion portion 50 described later. Thereby, the actuator main body portion 22 is fixed to the insertion portion 50 of a sealing member 30 described later. As the caulking member 36, metals such as aluminum alloy, brass, and iron can be used.

[0042] The sealing member 30 has a base end portion 40 and a pair of insertion portions 50. Further, the base end portion 40 has a mounting portion 32, a locking portion 58, and a large-diameter portion 54.

[0043] The mounting portion 32 has a diameter larger than the outer diameter of the tube 24, and an insertion portion 50 extends from one end side of the mounting portion 32 in the axial direction X. Further, the mounting portion 32 has a flow path R that communicates from the connection hole H on the front side through the central portion in the radial direction of the insertion portion 50 to the other end side (arrow X+ side) in the axial direction X (see also FIG. 6). An air supply hose (not shown) is connected to the connection hole H, and compressed air is supplied to the flow path R. The through hole 32T is a hole that penetrates the mounting portion 32 in the arrangement direction Z outside the connection hole H of the mounting portion 32 in the axial direction X (the upper side in the drawing in FIG. 6). The mounting hole 32I is a hole that penetrates from the outer surface of the mounting portion 32 in the axial direction X to the through hole 32T. The mounting hole 32I is, for example, a female thread into which a male threaded member (not shown) is inserted. The fluid pressure actuator 20 is fixed to a shaft member (not shown) by the male threaded member pressing the shaft member (not shown) passed through the through hole 32T.

[0044] The locking portion 58 is a portion that extends from the inner surface of the mounting portion 32 in the axial direction X toward the other side in the axial direction X, and has a smaller diameter than the mounting portion 32 as shown in FIGS. 5 and 6. Note that the length of the locking portion 58 in the axial direction X is appropriately set according to the shape of the above-described locking ring 34.

[0045] The large-diameter portion 54 is a portion that extends from the surface of the other end side of the locking portion 58 toward the other side in the axial direction X, and has a larger diameter than the locking portion 58 as shown in FIGS. 5 and 6. Note that the length of the large-diameter portion 54 in the axial direction X is appropriately set according to the shape of the above-described caulking member 36.

[0046] As shown in FIGS. 5 and 6, the insertion portion 50 is formed with a plurality of tapered portions that taper toward the inside in the axial direction X in series in the axial direction X. Further, the insertion portion 50 is inserted into one end side of the tube 24.

[0047] Further, an insertion portion 42 is formed between the pair of insertion portions 50 inside the base end portion 40 in the axial direction X. As shown in FIG. 7, the insertion portion 42 is formed on the back side of the base end portion 40 from the surface on the other end side of the large-diameter portion 54 toward the other end side in the axial direction X, and is a recessed portion that is open on the large-diameter portion 54 side in the axial direction X. The shape of the insertion portion 42 is appropriately set according to the shape of the restraint member 28. More specifically, the length in the width direction Y, which is the interval between the side wall surfaces 42S in the insertion portion 42, is slightly larger than the size in the width direction Y of the restraint member 28. Also, the size in the arrangement direction Z of the insertion portions 42 is slightly larger than half of the thickness direction of the restraint member 28. Further, the length in the axial direction X of the insertion portion 42 is set such that in the fluid pressure actuator 20 after assembly, the restraint member 28 is not compressed in the axial direction X and the restraint member 28 is sandwiched to such an extent that one end does not come out of the insertion portion 42.

[0048] Note that as the sealing member 30, a metal such as stainless steel can be preferably used, but it is not limited to such a metal, and a hard plastic material or the like may be used.

[0049] The sealing member 31 provided on the other end side (the right side in the drawing in FIG. 4) in the axial direction X of the fluid pressure actuator 20 has a lid portion 38 and a pair of insertion portions 50.

[0050] The lid portion 38 of the sealing member 31 is the same as the attachment portion 32 of the sealing member 30, except that the connection hole H and the flow path R are not formed and the tip is formed in an R shape. Also, the sealing member 31 is the same as the sealing member 30, except that the pair of insertion portions 50 are integrated with the lid portion 38.

[0051] Next, the operation of the fluid pressure actuator 20 in the present disclosure will be described.

[0052] <Operation of the fluid pressure actuator 20> As shown in FIGS. 1 to 3, the fluid pressure actuator 20 is used such that the sealing member 30 on one end side is fixed to the body member 90 and the sealing member 31 on the other end side becomes a free end.

[0053] Here, as shown in FIG. 6, for example, when compressed air is introduced into the left flow path R with the airtightness of the right flow path R in the sealing member 30 released, the pressure in the tube 24 connected to the left flow path R increases. The tube 24 connected to the left flow path R elastically deforms and expands due to the increase in internal pressure, the sleeve 26 undergoes a pantograph deformation so that the angle θ increases, and a force acts in the direction of shortening the length of the actuator main body 22. At this time, since the shortening of the actuator main body 22 is restricted by the restraining member 28 disposed at the opposing portion where the pair of tubes 24 are arranged, the outer peripheral wall on the side where the left flow path R is disposed as viewed from the axial direction X of the actuator main body 22 shortens. As a result, the restraining member 28 bends and deforms, and as shown by the two-dot chain line in FIG. 6, the entire actuator main body 22 curves toward the left side of the drawing.

[0054] Similarly, when compressed air is introduced into the right flow path R with the airtightness of the left flow path R in the sealing member 30 released, the outer peripheral wall on the side where the right flow path R is disposed as viewed from the axial direction X of the actuator main body 22 shortens. As a result, the restraining member 28 bends and deforms, and as shown by the two-dot chain line in FIG. 6, the entire actuator main body 22 curves toward the right side of the drawing.

[0055] In the present disclosure, since the restraining member 28 has a length in the width direction Y, it is difficult to bend in a direction other than the plate thickness direction, that is, the arrangement direction Z intersecting the axial direction X in the sealing member 30 and the sealing member 31.

[0056] Thus, in the fluid pressure actuator 20 of the present embodiment, by supplying compressed air to either one of the pair of tubes 24, the fluid pressure actuator 20 can be bent and deformed toward the side of the sealing member 30 to which the compressed air is supplied. In other words, the fluid pressure actuator 20 in the present embodiment can be bent and deformed toward both sides in the arrangement direction Z.

[0057] In the description of the present disclosure, "curved deformation" refers to the mode in which the fluid pressure actuator 20 deforms in the arrangement direction Z, and includes deformation from the curved state (the state shown by the two-dot chain line in FIG. 6) to the state of extending in the axial direction X (the state shown by the solid line in FIG. 6). Further, "curved deformation" may also be described as a mode in which the fluid pressure actuator 20 deforms as a whole without substantially changing the length of the central axis S thereof.

[0058] In the present embodiment, the fluid pressure actuator 20 is arranged such that the bending direction (the arrangement direction Z in the fluid pressure actuator 20) faces the circumferential direction φ of the body member 90. That is, the two tubes 24 of the fluid pressure actuator 20 are attached so as to be located on one side and the other side in the circumferential direction φ of the body member 90. In other words, the two tubes 24 of the fluid pressure actuator 20 are arranged side by side in the traveling direction F or the vertical direction.

[0059] In the present embodiment, regarding the amount of bending (angle of deformation) of the fluid pressure actuator 20 and the size of the actuator main body 22, as will be described later, it is only necessary to satisfy the specifications of various modes executed by the control unit 14.

[0060] As shown in FIGS. 1 to 3, in the present embodiment, as an example, a total of 16 fluid pressure actuators 20, eight on each end in the depth direction D of the body member 90, are arranged side by side in the circumferential direction φ over the entire circumference of the body member 90. Further, since each fluid pressure actuator 20 has the same shape, as shown in FIG. 2, when viewed from the depth direction D, the lengths from the center of the body member 90 to the tips of the fluid pressure actuators 20 are all equal. The configuration in which the fluid pressure actuators 20 are arranged side by side in the circumferential direction φ is an example of the drive unit 80 in the present embodiment. Further, it can be said that in the drive unit 80 in which the fluid pressure actuators 20 are arranged side by side in the circumferential direction φ, the fluid pressure actuators 20 are arranged radially with respect to the body member 90. In the present description, "radial" refers to a state in which a plurality of members (fluid pressure actuators 20) are arranged along a direction from the center of any member (the body member 90 viewed from the depth direction D in the present embodiment) toward the outside when viewed from any direction. More specifically, in the present embodiment, "radial" means that there is one or more fluid pressure actuators 20 within a range of any 120° when the drive unit 80 is viewed from the depth direction D.

[0061] Further, as shown in FIG. 1, in the present embodiment, the drive units 80 are respectively provided on both sides in the depth direction D. That is, in the present embodiment, the drive unit 80 has a configuration including the end portions of the body member 90 in the depth direction D and the fluid pressure actuators 20 arranged side by side in the circumferential direction φ, and the moving body 10 in the present embodiment is provided with the drive units 80 at both end portions in the depth direction D. In other words, in the present embodiment, the two drive units 80 are integrated in the depth direction D by the body member 90.

[0062] Further, as shown in FIGS. 1 to 3, each drive unit 80 is arranged such that the fluid pressure actuators 20 overlap in the depth direction D. In other words, in each drive unit 80, the positions of the fluid pressure actuators 20 in the circumferential direction φ coincide.

[0063] As described above, the fluid pressure actuator 20 according to the present embodiment has two tubes 24 each. The supply of compressed air to each tube 24 and the fluid pressure by releasing the airtightness of the tube 24 are controlled by the control unit 14 for each tube 24. In the present embodiment, the number (number of channels) that enables the control unit 14 to control the fluid pressure at the same time is, for example, 16. Thus, in the present embodiment, the fluid pressure actuators 20 in one drive unit 80 (on one side in the depth direction D) are each separately controlled in the bending direction.

[0064] In the present embodiment, although there are two drive units 80, the fluid pressure of a pair of fluid pressure actuators 20 that overlap in the depth direction D is controlled so that they bend in the same direction. In other words, the tubes 24 of a pair of fluid pressure actuators 20 that overlap in the depth direction D are controlled by the same channel.

[0065] The supply unit 16 is a component that supplies compressed air to each of the plurality of fluid pressure actuators 20, and is, for example, a tank in which compressed air is stored. The supply unit 16 is also controlled by the control unit 14 for the fluid pressure actuator 20 to which compressed air is supplied.

[0066] The control unit 14 is a device that controls the supply unit 16. The control unit 14 may have any configuration, but as an example, it is a device having a CPU, a ROM, and a RAM, and the CPU reads and executes a program stored in the ROM to perform various control operations.

[0067] More specifically, by executing a program, the control unit 14 supplies compressed air from the supply unit 16 to each fluid pressure actuator 20 and releases the airtightness of the flow path R of the fluid pressure actuator 20 according to a predetermined procedure. In other words, the control unit 14 controls the fluid pressure of each tube 24 included in each fluid pressure actuator 20. Thereby, the control unit 14 controls the bending deformation of the fluid pressure actuator 20 and moves the moving body 10 in the traveling direction F.

[0068] Next, a procedure for moving the mobile body 10 in the traveling direction F by the control unit 14 executing a program in the present embodiment will be described. In the present disclosure, the control unit 14 is capable of executing three movement modes, namely, a rotation mode, a jump mode, and a walking mode, as procedures for moving the mobile body 10 in the traveling direction F.

[0069] Note that, in FIGS. 7A to 9B, the respective fluid pressure actuators 20 may be described separately. In this case, from the first fluid pressure actuator 20A to the eighth fluid pressure actuator 20H, they are distinguished by attaching "A" to "H" to the end of the reference signs respectively.

[0070] Note that FIGS. 7A to 9B are views of the mobile body 10 according to the present embodiment as seen from the front, and only one side in the depth direction D is shown for the backbone member 18 and the fluid pressure actuator 20. The fluid pressure actuator 20 on the other side in the depth direction D is not shown in FIGS. 7A to 9B, but undergoes the same bending deformation as the fluid pressure actuator 20 on one side in the depth direction D (the fluid pressure actuator 20 shown in the figures).

[0071] <Procedure for moving the mobile body 10 in the traveling direction F> (Rotation mode) In the rotation mode, the control unit 14 moves the mobile body 10 in the traveling direction F by bending the fluid pressure actuator 20 in the order shown in FIGS. 7A and 7B. The upper figure in FIG. 7A shows the initial state in this movement mode.

[0072] First, as a first step, the control unit 14 bends the first fluid pressure actuator 20A, which is in front (on the traveling direction F side) among the fluid pressure actuators 20 in contact with the ground E, toward the rear (the opposite side of the traveling direction F). The first fluid pressure actuator 20A is an example of the first curved fluid pressure actuator that is located below the backbone member 18 and on the side of the traveling direction F among the plurality of curved fluid pressure actuators.

[0073] More specifically, among the first fluid pressure actuators 20A, by releasing the fluid pressure in the front tube 24 and applying fluid pressure to the rear tube 24, the fluid pressure actuator 20 is curved toward the other side in the circumferential direction φ. In other words, by releasing the fluid pressure in the tube 24 on the other side in the circumferential direction φ of the first fluid pressure actuator 20A and applying fluid pressure to the tube 24 on one side in the circumferential direction φ, the first fluid pressure actuator 20A is curved toward the other side in the circumferential direction φ.

[0074] As a result, the control unit 14 curves and deforms the first fluid pressure actuator 20A from the state shown in the upper diagram of FIG. 7A to extend linearly as shown in the middle diagram of FIG. 7A. Further, the control unit 14 further curves and deforms the first fluid pressure actuator 20A to curve rearward as shown in the lower diagram of FIG. 7A. In other words, the control unit 14 curves the first fluid pressure actuator 20A toward the other side in the circumferential direction φ.

[0075] Subsequently, as a second step, as shown in the upper diagram of FIG. 7B, the control unit 14 curves the second fluid pressure actuator 20B, which is located rearward among the fluid pressure actuators 20 in contact with the ground E, forward. Note that the second fluid pressure actuator 20B is an example of the second fluid pressure actuator 20 that is located below the base member 18 and on the opposite side of the traveling direction F among the plurality of curved fluid pressure actuators.

[0076] More specifically, among the second fluid pressure actuators 20B, by releasing the fluid pressure in the rear tube 24 and applying fluid pressure to the front tube 24, the fluid pressure actuator 20 is curved toward one side in the circumferential direction φ. In other words, by releasing the fluid pressure in the tube 24 on one side in the circumferential direction φ of the second fluid pressure actuator 20B and applying fluid pressure to the tube 24 on the other side in the circumferential direction φ, the second fluid pressure actuator 20B is curved toward one side in the circumferential direction φ.

[0077] As a result, the control unit 14 bends and deforms the second fluid pressure actuator 20B until it extends linearly as shown in the upper diagram of FIG. 7B.

[0078] Here, as shown in FIG. 7B, when the second fluid pressure actuator 20B extends linearly, the center of gravity G of the main member 18 in the moving body 10 moves forward by the second fluid pressure actuator 20B pushing against the ground E. Then, as shown in the upper diagram of FIG. 7B, when the center of gravity G moves forward of the tip side (the side in contact with the ground E) of the first fluid pressure actuator 20A, the moving body 10 rolls forward, resulting in the state shown in the lower diagram of FIG. 7B.

[0079] And, as shown in the lower diagram of FIG. 7B, when the moving body 10 is in a rolled state, the moving body 10 is located further forward than the initial state (the state in the upper diagram of FIG. 7A). That is, in the rotation mode, the control unit 14 moves the center of gravity G of the main member 18 forward of the other end of the first fluid pressure actuator 20A and rotates the main member 18 in the traveling direction F, thereby moving the center of gravity G of the main member 18 forward.

[0080] By the way, in the rotation mode, the lower diagram of FIG. 7B shows that the moving body 10 has rotated by an amount (45° in this embodiment) divided by the number of fluid pressure actuators 20 in one week in one direction of the circumferential direction φ compared to the upper diagram of FIG. 7A. That is, in the lower diagram of FIG. 7B, the eighth fluid pressure actuator 20H functions as the first fluid pressure actuator 20A in the above description, and the first fluid pressure actuator 20A functions as the second fluid pressure actuator 20B in the above description, so that the moving body 10 can be continuously moved.

[0081] In addition, in order to execute the rotation mode, as shown in the upper diagram of FIG. 7B, the first fluid pressure actuator 20A needs to be in a curved state, and the other end of the first fluid pressure actuator 20A in the axial direction X needs to be located behind the center of gravity G of the main body member 18. Therefore, when executing the rotation mode, at least the second fluid pressure actuator 20B is in a linearly extended state, and the amount by which the fluid pressure actuator 20 curves and the size of the actuator main body 22 are set so that the other end of the first fluid pressure actuator 20A in the axial direction X curves until it is located behind the center of gravity G of the main body member 18.

[0082] In other words, if the other end of the first fluid pressure actuator 20A in the axial direction X can be curved until it is behind the center of gravity G of the main body member 18, the second fluid pressure actuator 20B in the second step in the above description does not have to be extended until it becomes linear. Further in other words, if the other end of the first fluid pressure actuator 20A in the axial direction X can be curved until it is behind the center of gravity G of the main body member 18, the second step in the above description may be omitted.

[0083] (Jumping mode) In the jumping mode, the control unit 14 moves the moving body 10 in the traveling direction F by curving the fluid pressure actuator 20 in the order shown in FIGS. 8A and 8B. The upper diagram of FIG. 8A shows the first state in this moving mode.

[0084] First, as a first step, the control unit 14 curves the second fluid pressure actuator 20B, which is behind the center of gravity G of the main body member 18 among the fluid pressure actuators 20 in contact with the ground E, forward. Note that the second fluid pressure actuator 20B is an example of a second curved fluid pressure actuator that is in contact with the ground E and is on the side opposite to the traveling direction F with respect to the center of gravity G of the main body member 18 among the plurality of curved fluid pressure actuators.

[0085] As a result, the control unit 14 bends and deforms the second fluid pressure actuator 20B from the state shown in the upper diagram of FIG. 8A until it extends linearly as shown in the middle diagram of FIG. 8A. Further, the control unit 14 further bends and deforms the second fluid pressure actuator 20B until it bends forward as shown in the lower diagram of FIG. 8A. In other words, the control unit 14 bends the second fluid pressure actuator 20B toward the other side in the circumferential direction φ.

[0086] In the first step, among the fluid pressure actuators 20 in contact with the ground E, the first fluid pressure actuator 20A located in front of the center of gravity G of the backbone member 18 remains bent forward. The first fluid pressure actuator 20A is an example of a first curved fluid pressure actuator that contacts the ground E and is on the side of the traveling direction F with respect to the center of gravity G of the backbone member 18 among a plurality of curved fluid pressure actuators.

[0087] Subsequently, as a second step, the control unit 14 rapidly bends the first fluid pressure actuator 20A and the second fluid pressure actuator 20B backward as shown in the upper diagram of FIG. 8B.

[0088] More specifically, in the second step, the control unit 14 bends and deforms the first fluid pressure actuator 20A and the second fluid pressure actuator 20B faster than the speed at which the second fluid pressure actuator 20B was bent in the first step. As a result, the first fluid pressure actuator 20A and the second fluid pressure actuator 20B bend and deform until they extend linearly in FIG. 8B and press the ground E, thereby receiving a reaction force upward and forward.

[0089] Then, as shown in the middle diagram of FIG. 8B, when the first fluid pressure actuator 20A and the second fluid pressure actuator 20B rapidly bend and deform, the moving body 10 moves forward while jumping away from the ground E.

[0090] Then, as shown in the lower diagram of Fig. 8B, when the moving body 10 touches down on the ground E, it is positioned further forward than in the initial state (the state shown in the upper diagram of Fig. 8A). That is, in the jumping mode, the control unit 14 moves the first fluid pressure actuator 20A and the second fluid pressure actuator 20B while separating them from the ground E, and moves the center of gravity G of the main body member 18 forward by moving the main body member 18 in the traveling direction F.

[0091] Note that the moving body 10 transitions from the state shown in the lower diagram of Fig. 8B to the state shown in the upper diagram of Fig. 8A by bending the first fluid pressure actuator 20A forward. That is, after the second step, the control unit 14 can continue to move the moving body 10 by bending the first fluid pressure actuator 20A forward.

[0092] Note that in order to execute the jumping mode, as shown in the upper diagram to the middle diagram of Fig. 8B, it is necessary to separate the moving body 10 from the ground E by bending the first fluid pressure actuator 20A and the second fluid pressure actuator 20B. Therefore, when executing the jumping mode, at least the first fluid pressure actuator 20A and the second fluid pressure actuator 20B are set to be able to rapidly bend and deform to such an extent that the moving body 10 separates from the ground E due to the reaction force of the bending deformation. For example, in order to execute the jumping mode, the fluid pressure actuator 20 is set such that the resistance when the fluid flows through the flow path R becomes small.

[0093] (Walking mode) In the walking mode, the control unit 14 moves the moving body 10 in the traveling direction F by bending the fluid pressure actuator 20 in the order shown in Figs. 9A and 9B. The upper diagram of Fig. 9A shows the initial state in this moving mode.

[0094] First, as a first step, the control unit 14 curves the first hydraulic actuator 20A among the hydraulic actuators 20 in contact with the ground E and located in front of the center of gravity G of the backbone member 18 backward. Note that the first hydraulic actuator 20A is an example of the first curved hydraulic actuator in contact with the ground E among the plurality of hydraulic actuators 20.

[0095] Thereby, the control unit 14 curves and deforms the first hydraulic actuator 20A from the state shown in the upper figure of FIG. 9A to extend linearly while being fixed to the ground E as shown in the middle figure of FIG. 9A. Note that the first step is an example of the first deformation procedure for curving and deforming the curved hydraulic actuator toward the side opposite to the traveling direction F while being fixed to the ground E.

[0096] Thereby, as shown in the middle figure of FIG. 9A, the backbone member 18 of the moving body 10 moves forward compared to the initial state (the upper figure of FIG. 9A).

[0097] Next, as a second step, the control unit 14 curves and deforms the second hydraulic actuator 20B forward until it extends linearly as shown in the lower figure of FIG. 9A. In other words, the control unit 14 curves the second hydraulic actuator 20B toward the other side in the circumferential direction φ. Note that the second hydraulic actuator 20B is an example of the second curved hydraulic actuator in contact with the ground E among the plurality of hydraulic actuators 20.

[0098] In the second step, the second hydraulic actuator 20B curves and deforms forward until it extends linearly while sliding on the ground E. In other words, the control unit 14 curves and deforms the second hydraulic actuator 20B forward while sliding the ground E.

[0099] Thereby, as shown in the lower figure of FIG. 9A, the backbone member 18 of the moving body 10 moves forward compared to the state after the first step (the middle figure of FIG. 9A).

[0100] Subsequently, as a third step, the control unit 14 curves and deforms the first fluid pressure actuator 20A forward until it curves forward as shown in the upper diagram of FIG. 9B. In other words, the control unit 14 curves and deforms the first fluid pressure actuator 20A in the other direction of the circumferential direction φ.

[0101] In the third step, the first fluid pressure actuator 20A curves and deforms until it reaches a state where it curves forward while sliding on the ground E. In other words, the control unit 14 curves and deforms the first fluid pressure actuator 20A forward while sliding it on the ground E. Also, the third step is an example of a second deformation procedure for curving and deforming the first curved fluid pressure actuator toward the traveling direction F side while sliding it on the ground E.

[0102] As a result, as shown in the upper diagram of FIG. 9B, the main member 18 of the moving body 10 moves forward compared to the state after the second step (the lower diagram of FIG. 9A).

[0103] Subsequently, as a fourth step, the control unit 14 curves and deforms the second fluid pressure actuator 20B backward until it curves backward while being fixed to the ground E as shown in the lower diagram of FIG. 9B. In other words, the control unit 14 curves and deforms the second fluid pressure actuator 20B in one direction of the circumferential direction φ while fixing it to the ground E.

[0104] As a result, as shown in the lower diagram of FIG. 9A, the main member 18 of the moving body 10 moves forward compared to the state after the third step (the upper diagram of FIG. 9B).

[0105] Note that the moving body 10 in the state shown in the lower diagram of FIG. 9B is the same as the state shown in the upper diagram of FIG. 9A except that it is moving forward. That is, in the walking mode, the control unit 14 curves and deforms the first hydraulic actuator 20A and the second hydraulic actuator 20B in a direction opposite to the traveling direction while fixing them to the ground E, and curves and deforms them in the direction of the traveling direction while sliding on the ground E. By executing the procedure, the center of gravity G of the backbone member 18 is moved forward. For this reason, after the fourth step, the control unit 14 can continue to move the moving body 10 by repeating the above procedure again from the first step.

[0106] Note that in order to execute the walking mode, as shown in the middle diagram of FIG. 9A and the lower diagram of FIG. 9B, when the hydraulic actuator 20 curves and deforms backward, it is preferable that it is easy to fix to the ground E. Also, as shown in the lower diagram of FIG. 9A and the upper diagram of FIG. 9B, when the hydraulic actuator 20 curves and deforms forward, it is preferable that the ground E is easy to slide on. For this reason, when executing the walking mode, the tip of the hydraulic actuator 20 may be provided with a configuration that makes it easy to slide in a specific direction and difficult to slide in the opposite direction. As an example of the configuration, there is a configuration that makes it easy to catch only in a specific direction by a mechanical structure such as a claw and makes it easy to slide in the opposite direction. Also, at the tip of the hydraulic actuator 20, a slippery material such as a hard resin may be provided on the other side in the circumferential direction φ, and a non-slip material such as rubber may be provided on one side in the circumferential direction φ to obtain the above configuration.

[0107] Also, in the walking mode, the moving body 10 was moved by bending and deforming both the first fluid pressure actuator 20A and the second fluid pressure actuator 20B according to the above procedure. Instead, only one of the fluid pressure actuators 20 may be bent and deformed. For example, if the tip of the second fluid pressure actuator 20B can be slid on the ground E, it may be in a mode where only the first fluid pressure actuator 20A is bent and deformed (a mode where only the first step and the fourth step are executed). Also, for example, if the tip of the first fluid pressure actuator 20A can be slid on the ground E, it may be in a mode where only the second fluid pressure actuator 20B is bent and deformed (a mode where only the second step and the third step are executed).

[0108] Also, here, the moving body 10 according to the present embodiment can be bent in both one and the other directions of the circumferential direction φ. That is, the moving body 10 can move backward by reversing the bending direction in the above-described moving mode.

[0109] <Other applicable environments> Also, in the above description, examples in which the moving body 10 moves on a flat ground E have been described, but the present invention is not limited to this, and it may be used in other environments.

[0110] The moving body 10 according to the present embodiment is also applicable, for example, to an uneven ground UG having relatively small irregularities due to gravel or the like and relatively large irregularities due to terrain undulations, as shown in FIG. 10. In this case, when moving from above to below the undulation, it may move in a rotation mode in which the speed is easily increased, and when moving from below to above the undulation, it may be switched to a walking mode with good traversability.

[0111] Also, the moving body 10 according to the present embodiment is also applicable in water UW as shown in FIG. 11. In this case, since the buoyancy of the moving body 10 can be obtained, it may move by switching to a jumping mode and jumping over obstacles that are likely to be obstacles to movement in the rotation mode or the walking mode.

[0112] In the description of the above movement procedure, although the first fluid pressure actuator 20A and the eighth fluid pressure actuator 20H were both facing different directions in the initial state (the upper diagrams in FIGS. 7A, 8A, and 9A), the initial state is not limited to this. That is, the fluid pressure actuator 20 according to the present embodiment is not particularly limited in the initial state as long as it can transition to the state shown in any of FIGS. 7A to 9B.

[0113] Subsequently, the actions and effects according to the present embodiment will be described.

[0114] (Actions and Effects) In the moving body 10 according to the present embodiment, the control unit 14 bends and deforms a plurality of fluid pressure actuators 20 radially arranged on the backbone member 18 to move the center of gravity G of the backbone member 18 in the traveling direction F. Thereby, according to the moving body 10 according to the present embodiment, a moving body 10 using the fluid pressure actuator 20 is obtained.

[0115] Also, in the moving body 10 according to the present embodiment, the control unit 14 executes a rotation mode in which the center of gravity G of the backbone member 18 is moved in the traveling direction F from one end of the fluid pressure actuator 20 to rotate the backbone member 18 in the traveling direction F. Therefore, according to the moving body 10 according to the present embodiment, a moving body 10 that moves while rotating the entire backbone member 18 in the traveling direction F is obtained.

[0116] Also, in the moving body 10 according to the present embodiment, the control unit 14 executes a jumping mode in which the first fluid pressure actuator 20A and the second fluid pressure actuator 20B move the backbone member 18 in the traveling direction F while separating it from the ground E. Therefore, according to the moving body 10 according to the present embodiment, a moving body 10 that moves while being separated from the ground E in the traveling direction F is obtained.

[0117] In addition, in the mobile body 10 according to the present embodiment, the control unit 14 executes a first deformation procedure and a second deformation procedure to execute a walking mode in which the backbone member 18 is moved in the traveling direction F. Therefore, according to the mobile body 10 according to the present embodiment, a mobile body 10 that moves while repeatedly curving and extending a plurality of fluid pressure actuators 20 toward the traveling direction F can be obtained.

[0118] In addition, in the mobile body 10 according to the present embodiment, since the lengths of the plurality of fluid pressure actuators 20 from the center of the backbone member 18 to the ends on the side opposite to one end are all equal, the center of gravity G of the backbone member 18 is likely to be stable.

[0119] In addition, in the mobile body 10 according to the present embodiment, since the intervals between the adjacent fluid pressure actuators 20 are all equal, the possibility that the tips of the fluid pressure actuators 20 cannot move without contacting the ground E is reduced.

[0120] In addition, since the mobile body 10 according to the present embodiment has a plurality of drive units 80 in the depth direction D, it is possible to suppress the mobile body 10 from traveling in an unexpected direction.

[0121] [Modification Example] Note that, in the procedure of moving the mobile body 10 described above in the traveling direction F, none of the fluid pressure actuators 20 not in contact with the ground E were curved, but the control method of the mobile body 10 according to the present embodiment is not limited to this. As shown in each of FIGS. 7A to 9B, although only two fluid pressure actuators 20 in contact with the ground E were viewed from the depth direction D, the other fluid pressure actuators 20 may also be controlled to be curved.

[0122] For example, in the examples shown in FIGS. 7A to 9B, the combinations of the odd-numbered fluid pressure actuators 20 (the first fluid pressure actuator 20A, the third fluid pressure actuator 20C, the fifth fluid pressure actuator 20E, and the seventh fluid pressure actuator 20G) may be controlled such that they each undergo the same bending deformation at the same time, and the combinations of the even-numbered fluid pressure actuators 20 (the second fluid pressure actuator 20B, the fourth fluid pressure actuator 20D, the sixth fluid pressure actuator 20F, and the eighth fluid pressure actuator 20H) may be controlled such that they each undergo the same bending deformation at the same time. In other words, in the present embodiment, the fluid pressure actuators 20 may be controlled such that every other combination undergoes the same bending deformation at the same time.

[0123] In this case, the control unit 14 may control the bending direction of the odd-numbered fluid pressure actuators 20 and the bending direction of the even-numbered fluid pressure actuators 20. That is, since the control unit 14 only needs to control the internal pressures of the tubes 24 on one side and the other side in the circumferential direction φ in the odd-numbered fluid pressure actuators 20 and the internal pressures of the tubes 24 on one side and the other side in the circumferential direction φ in the even-numbered fluid pressure actuators 20, the total number of channels controlled by the control unit 14 can be made 4.

[0124] Also, in the above-described moving body 10, the supply unit 16 and the control unit 14 were housed inside the body member 90, but the moving body 10 according to the present embodiment is not limited to this. The supply unit 16 and the control unit 14 may be provided outside the body member 90. For example, a configuration may be adopted in which, among the moving body 10, the supply unit 16 and the control unit 14 are loaded on a ship at sea and the drive unit 80 is disposed on the seabed.

[0125] In this case, by supplying compressed air from the supply unit 16 to each of the plurality of fluid pressure actuators 20 through a hose, the drive unit 80 located on the seabed can be driven in the same manner as in the above-described embodiment.

[0126] [Other Modification Examples] Further, in the above-described embodiment, the control unit 14 was capable of executing three movement modes: the rotation mode, the jumping mode, and the walking mode. However, the mobile body 10 according to the present embodiment is not limited to this. That is, it is sufficient if it can execute at least one of the above three movement modes.

[0127] Also, in the above-described embodiment, the plurality of fluid pressure actuators 20 all extended along the radial direction in the backbone member 18 when viewed from the depth direction D. However, the mobile body 10 according to the present embodiment is not limited to this. For example, when executing the rotation mode, if the form is such that the center of gravity G is more likely to move to the front side than the tip of the first fluid pressure actuator 20A, the direction in which the fluid pressure actuator 20 extends may be shifted from the radial direction to any direction in the circumferential direction φ. Similarly, when executing other movement modes, as long as the position of the center of gravity G does not change unexpectedly and the posture does not become unstable, the direction in which the fluid pressure actuator 20 extends may be shifted from the radial direction to any direction in the circumferential direction φ.

[0128] Also, in the above-described embodiment, the fluid pressure actuators 20 were arranged in the circumferential direction φ over the entire circumference of the backbone member 18 when viewed from the depth direction D. However, the mobile body 10 according to the present embodiment is not limited to this. When executing any movement mode, as long as the tip of the fluid pressure actuator 20 does not contact the ground E and the mobile body does not become immovable due to the body member 90 or the side plate 82 contacting the ground E, the interval and range in which the fluid pressure actuators 20 are arranged do not have to extend over the entire circumference. For example, when executing only the walking mode and the jumping mode, only two, the first fluid pressure actuator 20A and the second fluid pressure actuator 20B, are sufficient.

[0129] In the above-described embodiment, the drive units 80 were arranged in the depth direction D, but the moving body 10 according to the present embodiment is not limited to this. For example, instead of one of the drive units 80 in the depth direction D, the moving body 10 may use wheels. Even in this case, the moving body 10 can move in the traveling direction F by executing the above-described movement mode.

[0130] In the above-described embodiment, the fluid pressure actuators 20 in the drive unit 80 were arranged in the depth direction D, but the moving body 10 according to the present embodiment is not limited to this. For example, in the moving body 10, the position in the circumferential direction φ of the fluid pressure actuator 20 may be different for each drive unit 80 arranged at both ends in the depth direction D when viewed from the depth direction D. Even in this case, the moving body 10 can move in the traveling direction F by executing the above-described movement mode at different times for each drive unit 80.

[0131] In the above-described embodiment, the fluid pressure actuators 20 in the drive unit 80 were all capable of bending and deforming in both directions of the circumferential direction φ, but the moving body 10 according to the present embodiment is not limited to this. For example, a fluid pressure actuator 20 that can be bent and deformed in one direction of the arrow φ by applying fluid pressure and can be bent and deformed in the other direction of the arrow φ by removing the fluid pressure may be used. In other words, as long as the fluid pressure actuator 20 of the moving body 10 according to the present embodiment can be bent and deformed from at least a linear state in one direction of the circumferential direction φ, it does not have to be able to bend in the other direction of the circumferential direction φ.

[0132] Even in these modified examples, those having the same configuration as the present embodiment can obtain the same operations and effects as the present embodiment.

[0133] The embodiments of the present disclosure have been described above with reference to the accompanying drawings. However, it is obvious that those having ordinary knowledge in the technical field to which the present disclosure pertains can conceive of various modification examples or application examples within the scope of the technical idea described in the claims, and it is naturally understood that these also belong to the technical scope of the present disclosure.

Description of Reference Numerals

[0134] 10 Moving body, 14 Control unit, 16 Supply unit, 18 Main member, 20 Hydraulic actuator, 22 Actuator main body, 24 Tube, 26 Sleeve, 28 Restraining member, 30 Sealing member, 31 Sealing member, 32 Mounting portion, 34 Locking ring, 36 Crimping member, 38 Cover portion, 40 Connection portion, 42 Insertion portion, 50 Insertion portion, 54 Large-diameter portion, 58 Locking portion, 80 Driving unit, 82 Side plate, 90 Body member

Claims

1. A driving unit having a base member and a plurality of curved fluid pressure actuators with one end in the longitudinal direction attached to the base member and radially arranged with respect to the base member, a supply unit for supplying fluid to the plurality of curved fluid pressure actuators, a control unit for changing the pressure of the fluid supplied from the supply unit to the curved fluid pressure actuators to control the shape of the plurality of curved fluid pressure actuators, A moving body comprising: The control unit deforms the plurality of curved fluid pressure actuators to move the center of gravity of the base member in the traveling direction. Moving body.

2. Among the plurality of curved fluid pressure actuators, the control unit curves and deforms a first curved fluid pressure actuator that is located below the base member and on the side of the traveling direction toward the side opposite to the traveling direction, thereby moving the center of gravity of the base member in the traveling direction beyond the one end of the first curved fluid pressure actuator, and executes a rotation mode for rotating the base member in the traveling direction. The moving body according to claim 1.

3. Among the plurality of curved fluid pressure actuators, the control unit curves and deforms a first curved fluid pressure actuator that is in contact with the ground and on the side of the traveling direction with respect to the center of gravity of the base member, and a second curved fluid pressure actuator that is in contact with the ground and on the side opposite to the traveling direction with respect to the center of gravity of the base member, from the side of the traveling direction toward the opposite side, thereby executing a jumping mode for moving the base member in the traveling direction while separating the first curved fluid pressure actuator and the second curved fluid pressure actuator from the ground. The moving body according to claim 1.

4. Among the plurality of curved fluid pressure actuators, the control unit executes a first deformation procedure of curving and deforming a first curved fluid pressure actuator in contact with the ground toward the side opposite to the traveling direction while keeping it in contact with the ground, and a second deformation procedure of curving and deforming the first curved fluid pressure actuator toward the side of the traveling direction while sliding on the ground, and executes a walking mode for moving the base member in the traveling direction. The moving body according to claim 1.

5. The lengths of the plurality of curved fluid pressure actuators from the center of the backbone member to the ends opposite to the one end are all equal. The moving body according to any one of claims 1 to 4. **Claim 6** The intervals between the plurality of curved fluid pressure actuators are all equal. The moving body according to claim 5. **Claim 7** Comprising a plurality of drive units arranged in a direction orthogonal to the traveling direction and the direction in which the plurality of curved fluid pressure actuators are arranged. The moving body according to claim 6.

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