MOVING DIRECTION CONTROLLER AND COMPUTER PROGRAM

WIPO Patent Application WO/2010/106847

A1

Provided is a moving direction controller and a computer program which can control the moving direction of a unicycle precisely by simple configuration. The angle of rotation in the yaw direction of the body is controlled using the reaction torque incident to rotation of the rotor. Designation of the yaw angle of wheels is received for the target of moving direction, and the information concerning a frictional torque is acquired. A rotational angular acceleration in the yaw direction is calculated based on the designated yaw angle, and the reaction torque is calculated based on the calculated angular acceleration in the yaw direction. An operation command of a yaw motor is created based on the calculated reaction torque and the acquired information concerning the frictional torque.

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

PCT/JP2010/051836

September 23, 2010

February 09, 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

WO2008139740A1	2008-11-20
WO2007063665A1	2007-06-07

JP2003502002A	2003-01-14
JP2001030972A	2001-02-06
JP2007161198A	2007-06-28
JP2006001385A	2006-01-05
JP2005335471A	2005-12-08

TAKASHI KASAI: "Attitude Control of Monocycle", MASTER'S THESIS IN GRADUATE SCHOOL OF SYSTEMS AND INFORMATION ENGINEERING, January 2005 (2005-01-01), pages 1 - 37
See also references of EP 2410396A4

FUKUNAGA Masaya (JP)
Masaya Fukunaga (JP)

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