Moving apparatus

Abstract

On a main body portion of a fluttering apparatus, a wing (left wing) is formed which has a front wing shaft, a rear wing shaft and a wing film provided spreading over the front and rear wing shafts. Further, on the main body portion, a rotary actuator for driving the front wing shaft and a rotary actuator for: driving the rear wing shaft are mounted. The front (rear) wing shafts reciprocate in a plane orthogonally crossing an axis of rotation with the actuator serving as the fulcrum. Thus, a moving apparatus is obtained which has superior maneuverability and can move not hindered by any obstacle or geometry both indoors and outdoors.

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       32 . A rising and moving apparatus, comprising: 
 a body;    a wing portion associated with said body, said wing portion defining a main surface portion;    a driving unit for driving the wing portion; and    a control unit controlling the manner of driving the wing portion by the driving unit, wherein    said control unit controls the manner of driving said wing portion such that a drag is generated on said main surface of said wing portion that causes said apparatus to rise to a desired level.    
   
   
       33 . The rising and moving apparatus according to  claim 32 , wherein 
 said drag is generated by repeatedly driving said wing portion downwardly.    
   
   
       34 . The rising and moving apparatus according to  claim 33 , wherein 
 said manner of driving said wing portion comprises the repeated sequence of (i) driving said wing portion downwardly in a manner tending to lift said apparatus by said drag generated on said main surface of said wing portion; (ii) rotating said wing portion about an axis of an extension direction of a wing shaft connecting said wing portion to said body, (iii) driving said wing portion upwardly in a manner generating little or no drag on said main surface of said wing portion, and (iv) rotating said wing portion about said wing shaft such that said wing portion assumes the position it had immediately before and during the downward driving of said wing portion.    
   
   
       35 . The moving apparatus according to  claim 34 , wherein 
 said wing shaft is provided at the vicinity of a front edge of said wing portion.    
   
   
       36 . The moving apparatus according to  claim 34 , wherein 
 said wing shaft is connected to a surface of a rotor disposed in a cavity in said body;    said driving portion includes an ultrasonic actuator having three stators disposed in spaced relation to one another about said rotor, and    said drag is generated by a rotation of said rotor in said cavity by at least one of said three stators.