Patent ID: 8958976
Filing Date: 2015-02-17
Classification: A61G,B60L,Y02T

Abstract:
1. A traveling apparatus which performs desired traveling under an inverted pendulum control, comprising: a ground contact stabilizer that operates to come into one of a ground contact state and a non-ground-contact state with respect to a road surface; drive means that drives the ground contact stabilizer; control means that controls the drive means; abnormality degree calculation means that calculates a degree of abnormality of a traveling state; and upper bound calculation means that changes an upper bound of a distance between the ground contact stabilizer and the road surface according to the degree of abnormality of the traveling state calculated by the abnormality degree calculation means, wherein the control means controls driving of the drive means so that the distance between the ground contact stabilizer and the road surface is smaller than or equal to the upper bound calculated by the upper bound calculation means, and prepares for allowing the ground contact stabilizer to contact the ground, and the upper bound calculation means decreases the upper bound to make the ground contact stabilizer closer to the road surface while maintaining the distance between the ground contact stabilizer and the road surface for the traveling apparatus to keep traveling as the degree of abnormality of the traveling state increases, the degree of abnormality being calculated by the abnormality degree calculation means.