| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an inverted pendulum type traveling apparatus capable of facilitating prevention of fall even when inverted pendulum control is stopped. <P>SOLUTION: A robot body 10 functioning as an inverted pendulum traveling apparatus includes: a pendulum part 20, fixing means 21, a carriage part 30, driving wheels 40, 41, a drive rotating shaft 42 and auxiliary wheels 50, 51. In stopping the robot body 10, the pendulum part 20 is fixed on the carriage part 30 by the fixing means 21 without executing inverted pendulum control. The robot body 10 can be supported by the auxiliary wheels 50, 51 provided on the carriage part 30 at fulcrums of the driving wheels 40, 41 and the auxiliary wheels 50, 51, thus stably preventing fall. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
