| 摘要 |
<P>PROBLEM TO BE SOLVED: To attain rising control and get-off control of an inverted pendulum vehicle stopping under an inclined condition. <P>SOLUTION: A distance, by which a vehicle moves until the rising is completed (rising moving distance L1), and a distance, by which the vehicle moves until a vehicle body is inclined and a stopper is grounded, are fetched as movement allowance distances. An output torque of a driving wheel is controlled to raise the vehicle body as slowly as possible within a range for meeting the movement allowance distances, so as to perform the rising control and the get-off control. <P>COPYRIGHT: (C)2008,JPO&INPIT |
