INVERTED PENDULUM TYPE MOVABLE BODY

摘要

An inverted pendulum type movable body of which the inverted state can be prevented from becoming unstable when auxiliary wheels are lowered. Auxiliary wheel devices (21, 22) having auxiliary legs (21b, 22b) are disposed at the front and rear of a carriage body (10) in the advancing direction. Motors (23, 24) for adjusting the lifting angles of the auxiliary legs (21b, 22b) and motors (29, 30) for adjusting the extension degrees and/or the extension speeds of the legs (21b, 22b) are mounted on the auxiliary wheel devices. Consequently, the extension degrees and/or the extension speeds of the auxiliary legs (21b, 22b) can be adjusted independently of each other.