Control device of inverted pendulum type vehicle
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United States of America Patent
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Jun 18, 2013
Issued Date -
N/A
app pub date -
Sep 24, 2010
filing date -
Sep 24, 2009
priority date (Note) -
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Abstract
A control device of an inverted pendulum type vehicle comprising: a drive unit driving a vehicle movable on a floor surface in all directions comprising a first direction and a second direction, the first direction being orthogonal to the second 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, 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 period of the periodic moving unit; and the control unit controls the drive unit according to the period of the periodic moving unit.
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