| 摘要 |
PROBLEM TO BE SOLVED: To provide an overturning prevention device of a vehicle suitable for preventing overturning of the vehicle during deceleration or acceleration. SOLUTION: This leg wheel type robot 100 is provided with a base body 10, a leg part 12 connected to the base body 10 to have a degree of freedom around a pitch shaft, a driving wheel 20 rotatably provided in the leg part 12 and a joint motor 40 for imparting power to drive the leg part 12 in the range of the degree of freedom around the pitch shaft. Acceleration in an advancing direction of the leg wheel type robot 100 is detected. The joint motor 40 is controlled based on the detected acceleration so that a pitch angleθof the robot 100 may have a direction to incline the robot 100 in an acceleration direction and a necessary size to avoid overturning. COPYRIGHT: (C)2009,JPO&INPIT
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