| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an inverted wheel type movable body capable of easily improving controllability and its control method. <P>SOLUTION: This inverted wheel type movable body is furnished with a right carriage 17 to support a wheel free to rotate, a left carriage 19, motors 34, 36 to rotationally drive a right driving wheel 18 and a left driving wheel 20, a vehicle body 12 supported free to revolve against the right carriage 17 and the left carriage 19 through a right arm 14 and a left arm 16, lower joint motors 65, 95 provided on the right arm 14 and the left arm 16 and to change vehicle height, a travelling control module 81 to control the motors 34, 36 to follow computed acceleration and a posture control module 82 to control the lower joint motors 65, 95 so as to lower the vehicle height when the acceleration exceeds a specified region and to change a center of gravity position of the vehicle body 12 to an axle in the longitudinal direction in response to the acceleration. <P>COPYRIGHT: (C)2009,JPO&INPIT |
