| 摘要 |
An inverted two-wheel running type robot, comprising a vehicle body, two wheels disposed on the vehicle body coaxially with each other, a drive device driving the wheels, a first state detection means detecting at least one of the inclination angle and the inclination angular velocity of the vehicle body, a second state detection means detecting at least one of the rotating angle and the rotating angular velocity of the wheels, a vehicle body constraint recognizing means detecting whether the rotation of the vehicle body is constrained or not, and a control means determining an instruction value to the drive device. The control means provides the instruction value obtained by changing the ratio of a torque contributing to the rotation of the vehicle body based on the detected results by the vehicle body constraint recognizing means. |
