Inverted pendulum type vehicle

摘要

A control device 21 of an inverted pendulum type vehicle 1 includes a control gain adjustment unit 26. The control gain adjustment unit 26 changes the magnitude of the control gain used for motion control of an actuator device 8 according to the tilting state of an occupant riding section 5 in a situation where an occupant steps onto or steps off from the occupant riding section 5. This makes getting onto and getting off from the vehicle smooth.