INVERTED PENDULUM-TYPE VEHICLE CONTROLLER

摘要

Disclosed is an inverted pendulum-type vehicle controller that allows the smooth movement of the vehicle. A grip (18) is provided at an upper-end portion of a base (9) of an inverted pendulum-type vehicle (1), and an external force (F) exerted on the grip (18) is detected by a sensor (55). A required center-of-gravity velocity generation unit (74) determines required center-of-gravity velocities (Vb_x_aim,Vb_y_aim) in accordance with the detected external force (F) exerted on the grip (18), and a movement actuating portion control means determines a control operation amount in accordance therewith.