| 摘要 |
The present invention addresses the problem of providing an inverted pendulum type mobile device capable of handling various disturbance forces, and a control method therefor. This inverted pendulum type mobile device, for which one or more wheels are aligned on the same axis, and the center of gravity of the parts other than the wheels is located above the wheels, is characterized by having an inversion control unit that determines the cause of a disturbance force on the basis of the rotational velocity of the wheels and the disturbance force (S201, S203, S205, S207, S210, S212), and that sets the output torque to the wheels (S202, S204, S206, S209, S211, S213) on the basis of the result of the determination. |
