发明名称 |
FALL PREVENTION CONTROLLER AND COMPUTER PROGRAM |
摘要 |
The present invention provides a falling prevention controlling device and a computer program that, with a simple configuration, can precisely correct the inclination in a pitch direction with respect to the balanced state while securing movement in the front-back direction, without the accumulating a noise and an offset, and prevent a falling in the pitch direction. The falling prevention controlling device has a wheel, and a main body which swings in a pitch direction and a roll direction above the wheel, and has: an advance/retreat command receiving unit 42 which receives an advance or a retreat command of the wheel; a target pitch angle calculating unit 44 which calculates a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle; a pitch inclined angle estimating unit 47 which estimates a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based an the target pitch angle; and a pitch torque command generating unit 49 which generates the pitch torque command based an the target pitch angle and the pitch inclined angle. |
申请公布号 |
EP2328055(A1) |
申请公布日期 |
2011.06.01 |
申请号 |
EP20090814338 |
申请日期 |
2009.02.25 |
申请人 |
MURATA MANUFACTURING CO. LTD. |
发明人 |
TSUJI, SHIGERU;FUKUNAGA, SHIGEKI;NAMURA, MITSUHIRO;KAWAI, KOJI;SHIRATO, KENICHI |
分类号 |
G05D1/08;A63H11/12;A63H17/25;B25J5/00;B25J13/08;B62K1/00;B62K17/00;G05D7/00 |
主分类号 |
G05D1/08 |
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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