| 摘要 |
An inverted wheel type moving body that is capable of enhancing convenience and a method of controlling the same are provided. An inverted wheel type moving body according to one aspect of the present invention includes a right chassis 17 and a left chassis 19 rotationally supporting a right driving wheel 18 and a left driving wheel 20, motors 34 and 36 rotationally driving the right driving wheel 18 and the left driving wheel 20, a body 12 rotatably supported on the right chassis 17 and the left chassis 19 through a right arm 14 and a left arm 16, a pressure-sensitive sensor 45 provided to judge whether a transportation object dismounts, and a control unit 80 controlling the motors 34 and 36 to reduce velocity upon judgment that the transportation object dismounts based on the output from the pressure-sensitive sensor 45 when the moving body travels faster than a certain velocity, in which overturn preventing operation is executed after an absolute value of the velocity is lower than a threshold value. |
