| 摘要 |
An object of the present invention is to provide a movement direction control apparatus and a computer program enabling a movement direction of a monocycle to be accurately controlled with a simple, convenient constitution A reaction torque accompanying rotation of a rotor is utilized to control a rotation angle of a body in a yaw direction. 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 in the yaw direction is calculated, based on the yaw angle the specification of which has been received, and the reaction torque is calcutated, 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. |
