Patent ID: 7703568

Claim:
A coaxial two-wheeled vehicle comprising: a pair of wheels, a wheel axle installed or provided between the pair of wheels, a base supported on the wheel axle so that it can be inclined thereon, a pair of drive motors attached on the base and for driving the pair of respective wheels, load detecting means provided on the base for detecting a position and weight of a load on the base, and angle detecting means provided on the base for detecting an angle of the base about the wheel axle of the base, and a control unit for sending an operation command to the pair of drive motors, wherein the control unit comprises: a first control mechanism adapted to generate a first torque for canceling torque based on the load, and to generate a second torque for maintaining the base so that it has a predetermined angle in correspondence with the angle about the wheel axle of the base, and a second control mechanism independent of the first control mechanism, which is adapted to generate a third torque for performing a traveling operation in accordance with the position of the load measured by the load detecting means, thus to instruct the pair of respective drive motors to perform operations corresponding to the first to third torques.