MOVING-DIRECTION CONTROL DEVICE AND COMPUTER PROGRAM

WIPO Patent Application WO/2011/027615

A1

Provided are a moving-direction control device and a computer program, wherein the moving direction of a unicycle can be controlled with precision, using a torque that is generated by an inclination in the pitch direction of the body, and without installing, separately, an inertia rotor that generates torque in the yaw direction. The moving direction control device is comprised of a wheel that rotates and moves in the front-back direction, and a body that is connected to the rotating axis of the wheel, and that swings in the pitch and roll directions, above the wheel. The moving direction control device is also provided with an inertia rotor that has approximately the front-back direction as the rotation center axis thereof, and a motor for rotating the inertia rotor. The rotation angle of the body in the yaw direction is controlled by a torque in the yaw direction that is caused by the rotation of the inertia rotor, which is generated in accordance with a pitch angle that is a prescribed inclination angle in the pitch direction.

TSUJI SHIGERU (JP)
FUKUNAGA SHIGEKI (JP)
NAMURA MITSUHIRO (JP)
KAWAI KOJI (JP)
SHIRATO KENICHI (JP)

PCT/JP2010/061509

March 10, 2011

July 07, 2010

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MURATA MANUFACTURING CO (JP)
TSUJI SHIGERU (JP)
FUKUNAGA SHIGEKI (JP)
NAMURA MITSUHIRO (JP)
KAWAI KOJI (JP)
SHIRATO KENICHI (JP)

G05D1/08; B62K1/00; B62K17/00

WO2007086176A1	2007-08-02
WO2007063665A1	2007-06-07

JPH10268904A

1998-10-09

FUKUNAGA Masaya (JP)
Masaya Fukunaga (JP)

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