Patent ID: 7823676
Filing Date: 2010-11-02
Classification: B60L,B62K,G05D,Y02T

Abstract:
1. A coaxial two-wheeled inverted pendulum type moving vehicle comprising: a pair of wheels; a chassis that supports the pair of wheels coaxially and rotatably; wheel actuators configured to rotate the pair of wheels with respect to the chassis; a vehicle body supported by the chassis, wherein the vehicle body is configured to shift with respect to the chassis in a direction parallel to a moving direction of the moving vehicle; an inverted pendulum control unit that controls the wheel actuators to maintain balance in an inverted pendulum attitude of the chassis; an attitude actuator that is configured to shift the vehicle body with respect to the chassis in the direction parallel to the moving direction of the moving vehicle; and a braking attitude control unit that controls the attitude actuator to maintain the vehicle body substantially horizontal, wherein: