To provide an inverted-pendulum control type mobile body capable of riding over any obstacle and advancing even when the obstacle having the size which cannot be ridden over by travel but need not be avoided is present.
The inverted-pendulum control type mobile body 1 includes a moving motion unit 5 movable on a traveling surface, an actuator device 7 for generating the driving force for driving the moving motion unit 5, and a base body 9 with the moving motion unit 5 and the actuator device 7 being assembled thereto. The base body 9 further has an expansion/contraction mechanism for expanding/contracting the base body 9. The expansion/contraction mechanism includes a direct-acting actuator 13 to be expanded/contracted in the vertical direction based on the jump command, and a spring 14 with its expanding/contracting direction being set in the same direction as the expansion/contraction direction of the direct-acting actuator 13.
KIKUCHI KEISHIRO
YAMAMOTO YUSUKE
Tadashi Takahashi
Yoshifumi Saeki
Suzuki Mitsuyoshi
Kazuya Nishi
Yasuhiko Murayama
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