Patent ID: 7417388
Filing Date: 2008-08-26
Classification: B62K,Y02T

Abstract:
1. A running machine with wheels comprising: a body; drive wheels coaxially arranged on a common rotation axis located at a predetermined position of the body, wherein the body is tiltable around the common rotation axis; a motor for applying torque to the drive wheels; a first controller outputting to the motor a first torque command to maintain the tilt angle of the body in a predetermined angle range, wherein the gravity center of the body is higher than the common rotation axis while the tilt angle of the body is maintained in the predetermined angle range; a second controller outputting to the motor a second torque command to drive the machine along an intended path; an abnormal condition detector for detecting occurrence of an abnormal condition relating to running of the machine; and a safe mode controller for preventing the second controller from outputting the second torque command when occurrence of the abnormal condition is detected by the abnormal condition detector.