Patent ID: 8738259

Claim:
A movable body comprising: a drive device that drives a movable body; a drive velocity detector that detects a drive velocity of the drive device; an operation state detector that detects an operation state including attitude information of the movable body; an attitude controller that generates a drive velocity command based on the attitude information detected by the operation state detector and an attitude information command to be input so that the attitude information detected follows the attitude information command to be input; and a velocity controller that generates a torque command of the drive device based on the drive velocity command generated by the attitude controller and the drive velocity detected by the drive velocity detector, the velocity controller being disposed subordinately with respect to the attitude controller, wherein the movable body moves by driving the drive device in accordance with the torque command generated by the velocity controller, the velocity controller performs velocity control so that the drive velocity detected by the drive velocity detector follows the drive velocity command generated by the attitude controller, a control cycle of the velocity control by the velocity controller is of a higher speed than a control cycle of the attitude control by the attitude controller, and a turning controller that generates a turning velocity command based on a turning information command to be input, the turning controller including no feedback of turning information, the drive device moves the movable body in one of forward and backward directions based on a movement of a center of gravity due to a movement by a passenger in one of the forward and backward directions, wherein the drive velocity command generated by the attitude controller is adjusted by the turning velocity command through addition or subtraction, and wherein the velocity controller performs velocity control so that the drive velocity detected by the drive velocity detector follows the drive velocity command generated.