| 摘要 |
<P>PROBLEM TO BE SOLVED: To rapidly start braking while preventing overturn in braking and to shorten a braking distance in a vehicle utilizing attitude control of an inverted pendulum. <P>SOLUTION: In the inverted pendulum vehicle, an air brake utilizing air resistance in braking is arranged at an upper side than a driving shaft of a driving wheel. The air brake is stored in a vehicle body in stopping and usual traveling, is arranged at a position where an area projected to an advancement direction is minimized and is released such that the projection area in the advancement direction becomes large in braking. Force for inclining the vehicle body to a front side in the advancement direction is acted by braking of the driving wheel, the projection area in the advancement direction is maximized by operating the air brake, force for inclining the vehicle body to a rear side in the advancement direction is acted by the air resistance and the attitude control is performed by adjusting balance of the both. The adjustment of balance is performed by performing at least either change in the projection area of the air brake or change in braking force of the driving wheel. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
