| 摘要 |
A running object (10) includes a body (12), at least two drive wheels (34, 44) disposed on a first axel (C1), and at least one driven wheel (50) disposed on a second axel (C2). The running object (10) is capable of switching between a standing posture in which the driven wheel (50) is suspended in the air and a stable posture in which the driven wheel (50) is placed on the ground. The running object (10) includes a storing device (66) that stores a target incline pattern that chronologically describes the target incline angle (·*) of the body (12) during a transition from the standing posture to the stable posture; a detecting device (38, 76) that detects the incline angle (·) and/or the incline angular velocity (d·/dt) of the body (12); a torque calculating device (62) that calculates torque (Ä1, Ä2) based on a deviation between the target incline pattern stored in the storing device (66) and a detection value detected by the detecting device (38, 76); and an actuator (32, 42) for applying the torque (Ä1, Ä2) calculated by the calculating device (62) to the drive wheels (34, 44). |
