| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an inverted pendulum type movement mechanism capable of quickly detecting generation of single-wheel idling when it occurs in the inverted pendulum type movement mechanism and maintaining a standing state even when an idling maintenance time is long. Ž<P>SOLUTION: The inverted pendulum type movement mechanism includes: a movement mechanism having left and right wheels; an upper body supported on the movement mechanism; and a control device for controlling the movement mechanism. The control device performs a double-wheels standing traveling control when no idling is detected by an idling detection part of the wheel, performs a ground-contact wheel standing control by a ground-contact wheel when the idling is detected, performs an idling wheel control on the idling wheel for urging traction return, turns back to the ground-contact wheel standing control when the traction return is not detected by a traction return detection part, and performs an idling treatment control to return to the double-wheel standing traveling control when the traction return is detected. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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