发明名称 |
Control device of inverted pendulum type mobile apparatus |
摘要 |
Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatus 1 is in halt state is detected, a control unit 50 determines a manipulated variable for control (imaginary wheel rotational angular acceleration command) so as to drive a travelling motion unit 5 toward a direction for the base body 9 to support the body of the user.
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申请公布号 |
US8521395(B2) |
申请公布日期 |
2013.08.27 |
申请号 |
US200913394885 |
申请日期 |
2009.09.18 |
申请人 |
TAKENAKA TORU;AKIMOTO KAZUSHI;KOBASHI SHINICHIRO;MURAKAMI HIDEO;UEBAYASHI YUICHI;HONDA MOTOR CO., LTD. |
发明人 |
TAKENAKA TORU;AKIMOTO KAZUSHI;KOBASHI SHINICHIRO;MURAKAMI HIDEO;UEBAYASHI YUICHI |
分类号 |
G06F19/00 |
主分类号 |
G06F19/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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