| 摘要 |
PROBLEM TO BE SOLVED: To provide an action program of a target value which can be followed without any deviation when moving in an inverted pendulum type mobile robot. SOLUTION: The mobile robot is provided with: a moving mechanism having left and right wheels and a traveling motor rotationally driving these wheels; the upper body supported by the moving mechanism; and a control device for controlling the moving mechanism. The control device is provided with a travel target generation part generating a plurality of time-series target values. The travel target generation part generates a time-series value of a characteristic point as a linear sum of a position and an inclination of the mobile robot located above a grounding point of the mobile robot so that a moving condition relative to the plurality of the time-series target values is satisfied. COPYRIGHT: (C)2008,JPO&INPIT
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