Patent ID: 8467922

Claim:
A control device of an inverted pendulum type vehicle comprising: a drive unit driving a vehicle that is omni directionally movable on a floor surface including in a fore-and-aft direction and a lateral direction, the fore-and-aft direction being substantially orthogonal to the lateral direction; a base body comprising a payload supporting part receiving a load of the drive unit and a passenger; and a control unit controlling the drive unit so that an inverted pendulum control is performed with respect to a vehicle system center-of-gravity point, the vehicle system center-of-gravity point being an overall center-of-gravity point of the vehicle and the passenger, wherein the inverted pendulum type vehicle comprises a periodic moving unit being comprised in the base body and receiving a predetermined periodic movement by the passenger, and a periodic detector detecting a rotational velocity period of the periodic moving unit; and the control unit controls the drive unit according to the rotational velocity period of the periodic moving unit.