To provide an inverted mobile body which stably travels in an inverted manner, and a method for controlling the inversion of the mobile body.

The inverted mobile body 1 includes a motor drive unit 2 having two or more wheels, a sensor unit 3 for sensing the state of the motor drive unit 2, a robot controlling unit 4 for determining the acceptance/rejection of starting the inversion based on the sensing result of the sensor unit 3, and an inversion control operation unit 6 for controlling the motor drive unit 2 for performing the inverted travel. The start of the inversion is permitted only when the positions of the center of gravity of the robot controlling unit 4 and the mobile body are within the permissible range.