| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a technology embodying a traveling body capable of smoothly shifting from an inverted posture floating a driven wheel and a stable posture grounding the driven wheel. <P>SOLUTION: The traveling body comprises a vehicle body, at least two driving wheels arranged on a first axle, and at least one driven wheel; and can switch a state traveling while keeping the inverted posture floating the driven wheel and a state traveling while keeping the stable posture grounding the driven wheel. The traveling body comprises a target tilting pattern memory means describing a target tilting angle of a vehicle body with time during a period shifting from the inverted posture to the stable posture, a means detecting a tilting angle and/or tilting angle speed of a vehicle body, a means calculating torque to be added to the driving wheels by using a deviation between a memorized target tilting pattern and a detected detection value, and an actuator adding the calculated torque to the driving wheels. <P>COPYRIGHT: (C)2007,JPO&INPIT |
