| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a traveling apparatus and a control method therefor, capable of prompt and easy adjustment of control parameters and further, facilitating a realizable control system of high robustness. <P>SOLUTION: The traveling apparatus includes attitude detection means for detecting attitude information of its body and vehicle speed detection means for detecting vehicle speed. In making a vehicle accelerate or decelerate, dummy attitude command generation means 17 generates a dummy attitude information command of the body, based on the detected attitude information, the detected vehicle speed, an attitude information command to be input and a vehicle speed command to be input. The attitude control means 18 performs attitude control so that the attitude information detected by the attitude detection means follows the dummy attitude information command of the body generated by the dummy attitude command generation means 17. <P>COPYRIGHT: (C)2010,JPO&INPIT |
