| 摘要 |
In an inverted pendulum type vehicle, a manipulated variable for control of a traveling motion unit is determined using adjustment parameters Ki_x, Ki_y (i=1, 2, 3) and &thetas;b_x_obj, &thetas;b_y_obj, which changes its value in accordance with whether it is in the loaded state in which an object to be transported is loaded on a loading part of the inverted pendulum type vehicle, or whether it is in the non-loaded state in which the object to be transported is not loaded thereon. The adjustment parameters are changed at a faster rate of change in the case of the transition from the loaded state to the non-loaded state, than in the case of the transition from the non-loaded state to the loaded state. The adjustment parameters for control are changed appropriately during transition while suppressing occurrence of slipping of the traveling motion unit. |
