Movement direction control apparatus and computer program

摘要

In a movement direction control apparatus and a non-transitory computer readable medium, a reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. A specification of a yaw angle of a wheel as a target of the movement direction is received, and information of a friction torque is acquired. A rotation angular acceleration in the yaw direction is calculated, based on the yaw angle, the specification of which has been received, and the reaction torque is calculated, based on the calculated rotation angular acceleration in the yaw direction. An operation instruction to a motor for yaw is generated, based on the calculated reaction torque and the acquired information of the friction torque.

主权项

1. A movement direction control apparatus comprising:
a wheel arranged to rotate and move in a front-back direction and including a rotation shaft; and a body connected to the rotation shaft of the wheel, an entirety of the body is arranged to swing in a pitch direction and in a roll direction above the wheel; wherein the body comprises:
an angular velocity sensor arranged to detect a yaw angular velocity of the body, which is a rotation angular velocity in a yaw direction;a rotor within the body having a rotation axis defined by a substantially vertical direction of the body; anda motor arranged to rotate the rotor; wherein a rotation angle of the body in the yaw direction is controlled in accordance with a reaction torque of the body caused by rotation of the rotor.