Inverted pendulum type vehicle
Number of patents in Portfolio can not be more than 2000
United States of America
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Apr 20, 2021
Grant Date -
Oct 25, 2018
app pub date -
Apr 19, 2018
filing date -
Apr 19, 2018
priority date (Note) -
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Abstract
Provided is an inverted pendulum type vehicle. A controller (20) includes a reference desired motion determiner (211), which sequentially determines a reference desired motion of a traveling motion unit (3) so as to stabilize the attitude of an object mounting unit (5), high-frequency idling state amount calculators (214), (42a) and (42b), which calculate the high-frequency idling state amount of the traveling motion unit (3), and a desired motion corrector (42g), which corrects the reference desired motion by a correction amount determined on the basis of the high-frequency idling state amount to reduce a high-frequency component of idling. The controller (20) controls an actuator unit (8) according to the desired motion obtained by correcting the reference desired motion.
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