| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an inverted mobile entity on which a user can easily ride, and a control method thereof.SOLUTION: A mobile entity 1 in accordance with the present invention includes a step sensor unit 132 that is included in a boarding portion of a vehicle body and individually detects placement of one foot of a boarding person and placement of the other foot, a vehicle state arithmetic unit 140 that detects through inverted control that the vehicle body has been moved, and an inverted control arithmetic unit 103 that when the placement of one foot of the boarding person is detected, if the movement of the vehicle body is detected, corrects a target posture, which is attained when the movement of the vehicle body is detected, so that a posture tilting in a moving direction of the vehicle body will be a new target posture.</p> |
