| 摘要 |
The purpose of the present invention is to provide a moving body capable of stabilizing the posture thereof when a situation occurs in which a wheel is lifted while turning. To achieve this purpose, the moving body is characterized by comprising: an upper body; two wheels connected through arms below the upper body and disposed to the front and rear in a direction of travel; a wheel driving motor for driving each of the two wheels; a steering driving motor for controlling the steering angle of each of the two wheels; a posture detecting unit for detecting posture information pertaining to the upper body; and a calculator for determining which wheel of the two wheels has bounced when at least one of the two wheels is detected to be freely revolving during turning operation, obtaining the time remaining until the vehicle will be planted on the ground, and controlling the wheel driving motor and the steering driving motor according to the calculated time in order to compensate for effects on maintaining posture when the vehicle becomes planted on the ground. |
