| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a traveling device capable of resting even on an inclined road surface, and to provide a method of controlling the traveling device. <P>SOLUTION: When a rest switch SW is on in a step S2, a contact state is determined from pressure sensor signal input in a step S3 further. More specifically, a contact state is determined, when human beings are on board, and a noncontact state is determined, when human beings are not on board. When the human beings are on board (contact state), the amount of change in the rotational angle of a tire is read in a step S4 for calculating an attitude command angleθadj. The posture command angle is updated in a step S5, thus resulting inθref=θref0+θadj. When the rest switch SW is turned off in the step S2 and when the human beings are not on board (the noncontact state) in the step S3, the attitude command angle is set to a default value in a step S6, thus resulting inθref=θref0,θadj=0. Attitude control operation is performed in a step S7, and motor torque drive Tref is outputted in a step S8. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
