Patent ID: 7823676

Claim:
A coaxial two-wheeled inverted pendulum type moving vehicle comprising: a pair of wheels; a chassis that supports the pair of wheels coaxially and rotatably; wheel actuators configured to rotate the pair of wheels with respect to the chassis; a vehicle body supported by the chassis, wherein the vehicle body is configured to shift with respect to the chassis in a direction parallel to a moving direction of the moving vehicle; an inverted pendulum control unit that controls the wheel actuators to maintain balance in an inverted pendulum attitude of the chassis; an attitude actuator that is configured to shift the vehicle body with respect to the chassis in the direction parallel to the moving direction of the moving vehicle; and a braking attitude control unit that controls the attitude actuator to maintain the vehicle body substantially horizontal, wherein: the vehicle body is supported by the chassis with an intervenient member arranged in between the vehicle body and the chassis, the intervenient member is connected to the chassis such that the intervenient member is configured to swing within a vertical plane including the moving direction, and the intervenient member supports the vehicle body such that the vehicle body is configured to slide parallel to the moving direction, and the attitude actuator comprises a first actuator that swings the intervenient member with respect to the chassis in an opposite direction of the moving direction and a second actuator that slides the vehicle body with respect to the intervenient member in the opposite direction of the moving direction.