| 摘要 |
A movable body according to the present invention detects an operation state including attitude information of the movable body by using an operation state detector, generates a drive velocity command based on the detected attitude information and an attitude information command to be input, generates a torque command of the drive device based on the generated drive velocity command and a drive velocity detected by a drive velocity detector, and drives the drive device in accordance with the torque command generated by a velocity controller, to thereby move. In the movable body, the velocity controller performs velocity control so that the drive velocity detected by the drive velocity detector follows the drive velocity command generated by an attitude controller, and the attitude controller performs attitude control so that the attitude information detected by the operation state detector follows the attitude information command to be input.
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