SELF-BALANCING MOBILE BODY AND CONTROL METHOD FOR SAME

摘要

A self-balancing mobile body according to the present invention is provided with a plurality of control systems that are multiplexed and performs self-balancing control, so as to move, by imparting torque to and driving wheels by way of a plurality of control systems. The control systems have: a change-over detection unit which detects that change-over has been performed to self-balancing control in which at least one control system among the plurality of control systems is stopped; and a self-balancing control unit which, if change-over of self-balancing control has been detected by the change-over detection unit, constrains speed and/or attitude angle of the self-balancing mobile body so as to perform self-balancing control of the self-balancing mobile body.