Inverted pendulum type vehicle
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United States of America Patent
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May 24, 2016
Issued Date -
N/A
app pub date -
Mar 24, 2014
filing date -
Mar 27, 2013
priority date (Note) -
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Abstract
An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity ωz_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor Kωz is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction.
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