Patent ID: 8612127

Claim:
An inverted vehicle which keeps an inverted state, the inverted vehicle comprising driving means with a wheel and a load to be controlled to keep the inverted state, the load being disposed above the wheel with a link interposed therebetween, the inverted vehicle comprising: a control device, the control device configured to execute the following control of: defining a load angular position as an angle between a straight line connecting a center of gravity of the load with a center of gravity of the wheel and a vertical straight line; and a control switching unit configured for the following: applying a linear feedback torque to the inverted vehicle, the linear feedback torque being calculated based on a load angular position tracking error that is obtained by subtraction of the load angular position from a load angular position reference input, the load angular position reference input being obtained based on a wheel horizontal speed reference input, and applying not the linear feedback torque but only damping torque to the inverted vehicle when the load angular position is in a damping range, the damping range being a width in the vicinity of the load angular position reference input.