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Title:
TWO-WHEELED MOBILE OBJECT, AND METHOD OF CONTROLLING SAME
Document Type and Number:
WIPO Patent Application WO/2015/092913
Kind Code:
A1
Abstract:
Provided is a two-wheeled mobile object and the like that achieve stable posture during movement. The two-wheeled mobile object is provided with: an upper body (7); a pair of rotatable legs (5R, 5L); wheels (1R, 1L) mounted to the legs (5R, 5L); wheel drive motors (2R, 2L); steer units (3R, 3L); steer drive motors (4R, 4L); a posture detection unit (8) that detects posture information of the upper body (7); and a control unit (9). In accordance with the rotating speed of the wheels (1R, 1L), the control unit (9) implements an intermediate mode in which the weighting for feedback gain used for first control and second control is smoothly varied.

Inventors:
NAKAMURA RYOSUKE (JP)
AMINO AZUSA (JP)
UEDA TAISHI (JP)
Application Number:
JP2013/084220
Publication Date:
June 25, 2015
Filing Date:
December 20, 2013
Export Citation:
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Assignee:
HITACHI LTD (JP)
International Classes:
B62K13/00; B62K3/00; B62K17/00
Domestic Patent References:
WO2011031992A22011-03-17
Foreign References:
JP2010274715A2010-12-09
JP2008062769A2008-03-21
JP2007301654A2007-11-22
JP2009220257A2009-10-01
Attorney, Agent or Firm:
ISONO Michizo (JP)
Michizo Isono (JP)
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