INVERTED-PENDULUM MOBILE BODY AND ITS CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To allow an inverted-pendulum mobile body to advance immediately behind a person pulling the mobile body even when the inverted-pendulum mobile body in the direction different from the direction of a main wheel, and to allow a large transverse width not to be required during the traction mode.

SOLUTION: A connection part 50F with a traction rope 52 being connected thereto is provided on a part separated from the vertical line passing through the center of rotation of a main wheel 85 in its erected posture out of a base body.

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