Patent ID: 7640086
Filing Date: 2009-12-29
Classification: B62K,Y02T

Abstract:
1. A running object comprising: a body; at least two drive wheels disposed on a first axle; at least one driven wheel disposed on a second axle, wherein the at least one driven wheel is suspended in the air while the running object is in a standing posture and the at least one driven wheel is placed on a ground while the running object is in a stable posture; a storing device that stores a target incline pattern that chronologically describes a target incline angle of the body during a transition from the standing posture to the stable posture; a first detecting device that detects an incline angle and/or an incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the first detecting device; and an actuator for applying the torque calculated by the torque calculating device to the drive wheels.