| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an inverted wheel type moving body capable of safely performing inverting operation, and to provide a control method thereof. <P>SOLUTION: This inverted wheel type moving body includes motors 34 and 36 for driving a right driving wheel 18 and a left driving wheel 20, a driver seat 74 turnably supported by mounts 26 and 28 through swing arms 17 and 19, and a driver seat driving motor 70 for driving the driver seat 74. A control section 80 drives the third driving section so as to transfer condition from a grounding condition to a floating condition, and determines whether the drive amount of a swing arm joint 67 exceeds a threshold value or not. After the drive amount exceeds the threshold value, the control section 80 starts to control the motors 34 and 36 and the driver seat driving motor 70 so as to invert the inverted wheel type moving body. <P>COPYRIGHT: (C)2009,JPO&INPIT</p> |
