Patent ID: 8577576
Filing Date: 2013-11-05
Classification: B62J,B62K

Abstract:
1. An inverted pendulum type vehicle, comprising: a travelling motion unit capable of moving on a floor surface, an actuator for driving the travelling motion unit, a base body mounted with the travelling motion unit and the actuator, a tilt detector configured to detect a tilt of the base body, and a controller configured to control the actuator, wherein the controller is provided with a representative point velocity restrictor configured to restrict a representative point velocity which is a travelling velocity of a predefined representative point located above a ground contact point and is determined according to a travelling velocity of the travelling motion unit and a detected tilt of the base body, and wherein the actuator has a first velocity permissible range defined based on a permissible range of a rotational angular velocity thereof, the representative point velocity restrictor is provided with a second velocity permissible range for restricting the representative point velocity, and the first velocity permissible range includes larger values than those of the second velocity permissible range.