CONTROL DEVICE FOR INVERTED PENDULUM VEHICLE

WIPO Patent Application WO/2011/033579

A1

Provided is an inverted pendulum vehicle which can achieve a state in which the vehicle is difficult to move while not loaded with an object to be carried, and can achieve a state in which the vehicle is easy to move while loaded with the object to be carried. Specifically provided is an inverted pendulum vehicle (1) having a loaded state mode of being loaded with an object to be carried on a loading part (3) thereof and an unloaded state mode of not being loaded with the object to be carried. The moving operation of a moving operation part (5) is controlled such that, when the moving speed of a representative point of the vehicle (1) in a steady state in which the inclination deviation (θbe_x_s, θbe_y_s) between the actual inclination angle and target inclination angle of the loading part (3) is maintained constant is taken as Vb_x_stb, Vb_y_stb, at least the ratio of the magnitude of Vb_x_stb to the magnitude of θbe_x_s is smaller in the unloaded state mode than in the loaded state mode.

JP2011079426	INVERTED PENDULUM TYPE MOVING BODY
JP2001334011	SKATING BOARD
JP4291822	Inverted wheel type running body

AKIMOTO KAZUSHI (JP)
MURAKAMI HIDEO (JP)
TAKENAKA TORU (JP)

PCT/JP2009/004729

March 24, 2011

September 18, 2009

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HONDA MOTOR CO LTD (JP)
AKIMOTO KAZUSHI (JP)
MURAKAMI HIDEO (JP)
TAKENAKA TORU (JP)

B62K17/00; B62K1/00

WO2008139740A1	2008-11-20
WO2008081815A1	2008-07-10

JP2008120347A	2008-05-29
JPH04201793A	1992-07-22

SATO & ASSOCIATES (JP)
Patent business corporation creation international patent firm (JP)

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