To provide an inverted moving body and a movement stopping method of the inverted moving body, capable of stably stopping the moving body when an inverted state becomes unstable, in the moving body of moving by inversion control.
This inverted moving body has a rotary body having a cross section of a circular shape, a driving part for rotatingly driving the rotary body, a moving body main body for holding the rotary body, and a control part for controlling the driving part and maintaining an inverted state of the moving body main body by controlling rotational driving of the rotary body contacting with a floor surface. The moving body main body is constituted for holding the rotary body via a connecting member deformable so as to change a relative position in the vertical direction, and the control part is constituted so as to change the relative position in the vertical direction of the moving body main body and the rotary body by controlling deformation of the connecting member. When the control part cannot maintain the inverted state of the moving body main body, the moving body main body is relatively changed in a position vertically downward to the rotary body, and the moving body main body is contacted with the floor surface.
COPYRIGHT: (C)2009,JPO&INPIT
Kazutoshi Tsumugi
Koide Mitsuo
Chimio Hayashi
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