TWO-WHEELED INVERTED PENDULUM DEVICE, METHOD FOR CONTROLLING SAME, AND CONTROL PROGRAM

摘要

An inverted two-wheel apparatus includes drive means that drives wheels; control means that generates a torque command value to control drive torque of the drive means; and posture detection means that detects posture information of a vehicle. The inverted two-wheel apparatus is able to travel while keeping an inverted state, Furthermore, the control means performs control to dismount an occupant upon judgment that the torque command value that is generated is equal to or more than a predetermined value, which means in a saturation state, and inverted control is in a failure state based on the posture information detected by the posture detection means.