Patent ID: 9180926
Filing Date: 2015-11-10
Classification: B60L,B62B,B62K,G05D,Y02T

Abstract:
1. An inverted pendulum type moving body comprising: a pair of wheels that is suspended from a body of the moving body, uses a floor as a traveling plane, and is provided on the same plane vertical to its traveling direction; a driving mechanism for rotating these wheels; a posture sensor that measures an inclination angular velocity of its upper body that a straight line connecting a center of gravity of the body of the moving body and an axle of the one pair of wheels makes with a vertical direction; a mechanism control part that maintains an inverted state of the body of the moving body by controlling the driving mechanism; and a computer including a velocity planning part that, when a need to change a velocity arises during a movement of the moving body, performs a movement plan so that the inclination angular velocity of the upper body and an inclination angle of the upper body may be in a relationship of a quadratic function.