Patent ID: 8265774
Filing Date: 2012-09-11
Classification: A61G,B62K

Abstract:
1. An inverted pendulum type moving body, comprising: first actuators to rotationally drive at least two wheels each disposed on an axle; a turning motion control portion to control the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion, and a turning motion calculation portion programmed to calculate a forward and backward rocking motion generated due to a contact between the inverted pendulum type moving body and the obstacle, as a corresponding turning motion with respect to a direction in which the inverted pendulum type moving body turns, wherein the turning motion control portion drives and controls the first actuators to perform the turning motion so as to allow the inverted pendulum type moving body to turn and move backwards in a direction away from the obstacle when contact is made with the same.