| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a control device for an omni-directionally moving vehicle, which reduces the inclination of attitude in turning of the vehicle provided with an auxiliary grounding part. <P>SOLUTION: The omni-directionally moving vehicle 1 includes the auxiliary grounding part 26 allowing an auxiliary wheel 26d to operate selectively between in a grounded state and in a non-grounding state at a position different from the grounding surface of a wheel body 5, and when the yaw rate of the vehicle 1 output by a yaw rate sensor 53 exceeds a threshold, a control unit 50 changes the auxiliary wheel 26d from the grounded state to the non-grounding state conditioned that the auxiliary wheel 26d does not act so as to reduce the yaw rate of the vehicle 1. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
