Patent ID: 8050837
Filing Date: 2011-11-01
Classification: A61G,B60L,G05D,Y02T

Abstract:
1. A mobile unit including at least one rotator with a circular cross section and a vehicle body supported by the at least one rotator, the vehicle body capable of oscillating at least in a longitudinal direction of the mobile unit during traveling of the mobile unit, the mobile unit comprising: at least one motor driver to drive the at least one rotator; a target value generating portion to generate a velocity target value of the mobile unit and a tilt angular rate target value of the vehicle body in such a way that a second-order time derivative of the velocity target value is continuous and the tilt angular rate target value is continuous with respect to time; and a stabilization/traveling controller to calculate a control command value for the at least one motor driver using the velocity target value and the tilt angular rate target value as a control target so as to allow the mobile unit to travel at the velocity target value while maintaining a state where a center of gravity of the vehicle body or a center of gravity of a total mass of the vehicle body and a subject to be supported on the vehicle body is located above a rotation center of the at least one rotator.