INVERTED PENDULUM-TYPE VEHICLE CONTROLLER

摘要

Disclosed is an inverted pendulum-type vehicle controller that enables the vehicle to be smoothly moved with the person being conducted serving as a support thereto. A grip (18) which extends vertically at the upper side of a base (9) is fixed to an inverted pendulum-type vehicle (1), and a thumb-operated joystick (20) that can be directed in all directions over 360° by the person being conducted who is holding the joystick (20) is provided at the upper end of the grip (18). The amount of operation of the joystick (20) is detected by a position sensor (55), a required center-of-gravity velocity generation unit (74) determines the required center-of-gravity velocities (Vb_x_aim,Vb_y_aim) in response to the detected amount of operation of the joystick (20), and a movement actuating portion control means determines a control operation amount in accordance therewith.