Patent ID: 7945367

Claim:
A travel device comprising: a driving unit that independently drives a plurality of wheels mounted coaxially; a main body that joins the plurality of wheels; an attitude detector that detects at least one of an attitude angle and an attitude angular velocity as attitude information of the main body; a wheel angular velocity detector that detects a relative angular velocity between the main body and the plurality of wheels as a wheel angular velocity; a vehicle velocity detector that detects a vehicle velocity based on the detected wheel angular velocity of the plurality of wheels and the attitude angular velocity detected by the attitude detector; a pseudo-attitude command generator that generates at least one of a pseudo-attitude angle command and a pseudo-attitude angular velocity command as a pseudo-attitude information command of the main body based on the detected vehicle velocity, an input attitude information command and an input vehicle velocity command when accelerating or decelerating a vehicle; and an attitude controller that generates a drive command of the driving unit in such a way that the attitude information detected by the attitude detector follows the pseudo-attitude information command of the main body generated by the pseudo-attitude command generator, wherein a motor of the driving unit is driven for traveling according to the drive command generated by the attitude controller.