MOVING DIRECTION CONTROLLER AND COMPUTER PROGRAM

摘要

Provided is a moving direction controller and a computer program which can control the moving direction of a unicycle precisely by simple configuration. The angle of rotation in the yaw direction of the body is controlled using the reaction torque incident to rotation of the rotor. Designation of the yaw angle of wheels is received for the target of moving direction, and the information concerning a frictional torque is acquired. A rotational angular acceleration in the yaw direction is calculated based on the designated yaw angle, and the reaction torque is calculated based on the calculated angular acceleration in the yaw direction. An operation command of a yaw motor is created based on the calculated reaction torque and the acquired information concerning the frictional torque.