| 摘要 |
An inverted wheel type moving body according to the present invention includes a right chassis 17 and a left chassis 19 rotationally supporting wheels, motors 34 and 36 rotationally driving a right driving wheel 18 and a left driving wheel 20, a body 12 rotatably supported on the right chassis 17 and the left chassis 19 through a right arm 14 and a left arm 16, lower joint motors 65 and 95 disposed in the right arm 14 and the left arm 16 and varying vehicle height, a travel control module 81 controlling the motors 34 and 36 so as to follow calculated accelerations, and a posture control module 82 controlling the lower joint motors 65 and 95 to lower the vehicle height and change a position of a center of mass of the body 12 with respect to an axle in a front-back direction in accordance with the accelerations when the accelerations exceeds a certain range.
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