MOBILE ROBOT APPARATUS AND CONTROLLING METHOD THEREOF

A mobile robot apparatus is disclosed. The mobile robot apparatus comprises: a main body; a first wheel and a second wheel which are respectively arranged on both side surfaces of the main body and have convex-shaped side surfaces; a first driving device for respectively rotating the first and second wheels; a second driving device for moving the first and second wheels respectively to a first position or a second position; and a processor, when it is determined that the mobile robot apparatus is inverted to one side, for controlling the second driving device so that a ground-engaging wheel between the first and second wheels is moved from the second position to the first position, wherein central axes of the first and second wheels are closer to the center of gravity of the main body at the first position rather than the second position.