Control device for mobile body
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United States of America Patent
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Jun 20, 2017
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app pub date -
Aug 21, 2015
filing date -
Sep 29, 2014
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Abstract
A control device for a mobile body enabling a smooth transition operation between a first mode and a second mode is provided. A change amount of a center of gravity component at a prescribed time is expressed by using an inertial force-dependent manipulated variable component, which changes in accordance with an instantaneous value (d2Zb/dt2(t1) to d2Zb/dt2(t13)) of desired inertial force at the prescribed time (t1 to t13) in the time series of the desired inertial force (d2Zb/dt2(t)) defined by an up-and-down direction motion parameter, and a displacement-dependent manipulated variable component, which changes in accordance with an instantaneous value (Zb(t1) to Zb(t13)) of desired displacement at the prescribed time (t1 to t13) in the time series of the desired displacement (Zb(t)) defined by the up-and-down direction motion parameter.
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