Title:
倒立型移動体及びその制御方法
Document Type and Number:
Japanese Patent JP5488095
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an inverted mobile that can determine a dangerous state and is controlled in safety.SOLUTION: A lord angle estimation error is calculated (107) on the basis of a load angle of the inverted mobile 103 and a torque instruction of a wheel. In addition, whether the lord angle estimation error diverges and a state of the inverted mobile are determined. In the inverted mobile, an inverted control is started/continued/resumed in a safety state, while a safety securing control, such as a retreat running or a stopping, is carried out in the dangerous state, depending on the state of the inverted mobile which is input from a state determiner 108.
Inventors:
Gen Ando
Application Number:
JP2010065996A
Publication Date:
May 14, 2014
Filing Date:
March 23, 2010
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B62K17/00; B62K3/00; G05D1/08; B62D63/02
Domestic Patent References:
| JP2010208530A | ||||
| JP2009104360A | ||||
| JP2008189089A | ||||
| JP2010030438A | ||||
| JP2003502002A | ||||
| JP2009280132A | ||||
| JP2009142127A | ||||
| JP2009101899A | ||||
| JP2008089531A | ||||
| JP2010152460A |
Foreign References:
| WO2011033592A1 |
Attorney, Agent or Firm:
Ken Ieiri
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