Inverted pendulum type vehicle
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United States of America Patent
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Oct 14, 2014
Grant Date -
Nov 14, 2013
app pub date -
May 9, 2013
filing date -
May 14, 2012
priority date (Note) -
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Abstract
An inverted pendulum type vehicle includes a control device which sets a target turning angular velocity ωz_cmd to a nonzero value not only when a predetermined steering operation is performed but also at least in an external force application state in which an external force for turning the vehicle about a yaw axis is applied to the vehicle. The control device controls a first actuator device and a second actuator device such that a second moving operation unit has a different velocity from a first moving operation unit in a left-right direction. Such an inverted pendulum type vehicle makes it possible to turn the vehicle easily even in a state in which no steering operation is performed.
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