Abstract: A crawler type traveling body includes a drive wheel, an in-wheel motor incorporated in the drive wheel, a plurality of rotating wheels disposed below the drive wheel, a crawler, and a tensioner. The crawler is wound around the drive wheel and the rotating wheels and configured to be rotated by the drive wheel. The tensioner is coupled to a drive shaft of the in-wheel motor and configured to press the drive wheel against the crawler and apply tension to the crawler.

Abstract: A crawler-type traveling body includes: a crawler; a drive wheel including a drive shaft, the drive wheel configured to apply a driving force to the crawler; at least two track rollers disposed below the drive wheel, the crawler being stretched around the drive wheel and said at least two track rollers; and an auxiliary mechanism between said at least two track rollers, the auxiliary mechanism includes two auxiliary wheels swingably provided, wherein a push-up amount of one of the two auxiliary wheels pushed up in a vertical direction is larger than a push-down amount of another of the two auxiliary wheels pushed down in the vertical direction.

Abstract: A traveling body includes a range sensor and circuitry. The range sensor is disposed on a front face of the traveling body in a traveling direction in which the traveling body travels on a road surface and disposed obliquely downward at an inclination angle relative to the road surface. The circuitry determines presence of a continuous obstacle in a case where measurement results of a plurality of planes scanned by the range sensor include a plurality of feature values indicating unevenness relative to the road surface similar to each other. The circuitry generates an obstacle map of a front region of the traveling body not scanned by the range sensor, based on sequential feature information indicating that a predetermined number of feature values indicating the unevenness are sequentially present and controls the traveling body to travel on the road surface based on the obstacle map.

Abstract: A crawler traveling body includes: a wheel around which a crawler belt is wound; a disc; a disc connector configured to connect the wheel and the disc, and rotate the wheel and the disc together; a brake caliper configured to sandwich the disc with a brake pad; and a motor configured to open or close the brake pad according to a control signal for controlling a degree of opening or closing of the brake pad.

Abstract: A crawler type traveling body includes a drive wheel, an in-wheel motor incorporated in the drive wheel, a plurality of rotating wheels disposed below the drive wheel, a crawler, and a tensioner. The crawler is wound around the drive wheel and the rotating wheels and configured to be rotated by the drive wheel. The tensioner is coupled to a drive shaft of the in-wheel motor and configured to press the drive wheel against the crawler and apply tension to the crawler.