| 摘要 |
An inverted wheel type mobile body has a right wheel base (17) and a left wheel base (19) that rotatably support wheels, motors (34, 36) for rotation ally driving a right drive wheel (18) and a left drive wheel (20), a vehicle body (12) pivotally supported relative to the right wheel base (17) and the left wheel base (19) with a right arm (14) and a left arm (16) provided bet ween the vehicle body (12) and the respective corresponding right and left a rms (14, 16), lower joint motors (65, 95) arranged on the right arm (14) and the left arm (16) and changing the vehicle height of the mobile body (100), and a control section (80) for controlling, based on a fail signal (88) out putted when the inverted wheel type vehicle has a failure, the lower joint m otors (65, 95) to lower the vehicle height. |
