| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To achieve changing of a control for taking balance according to a degree of skillfulness of an occupant. <P>SOLUTION: The control device of an omnidirectional moving vehicle includes one or more moving operation parts capable of being driven in all directions including a first direction and a second direction orthogonal to each other on a floor surface, an actuator device for driving the moving operation parts, and a base body assembled with the moving operation parts and the actuator device. The control device includes an attitude control part for controlling moving amount and moving directions of the moving operation parts so that the position of a prescribed representative point of the vehicle may keep a reference position, and a controlled variable changing part for changing the control of the attitude control part in relation to the moving amount of the moving operation parts according to a degree in which the base body is shaken in the first direction. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
