| 摘要 |
PROBLEM TO BE SOLVED: To provide a wheeled inverted pendulum mobile unit capable of stopping itself without shaking its body. SOLUTION: A mobile unit 100 includes support legs 20 downwardly extending from a body 10 and grounded at the front and behind of an axle 14 of driving wheels, with lower ends going up and down according to the inclination of the body 10, and a lock mechanism 26 fixing the position of the lower ends of the support members. The support legs 20 are grounded regardless of the operation/non-operation of an inverted pendulum control and move up and down according to the inclination of the body 10. Therefore, the support legs 20 do not interfere the inverted pendulum control though being grounded always. In the case of stopping the inverted pendulum control, the positions of the lower ends of the support legs 20 are fixed by operating the lock mechanism 26. When the inverted pendulum control shifts its state from operative to inoperative, the support legs 20 can support the body 10 without time lag. Thus, the body is not shaken by having the telescopic support legs 20 which is always grounded and the lock mechanism 26. COPYRIGHT: (C)2009,JPO&INPIT
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