Title:
倒立車輪型移動体、及びその制御方法
Document Type and Number:
Japanese Patent JP4924179
Kind Code:
B2
Abstract:
An inverted wheel type moving body according to the present invention includes a right chassis 17 and a left chassis 19 rotationally supporting wheels, motors 34 and 36 rotationally driving a right driving wheel 18 and a left driving wheel 20, a body 12 rotatably supported on the right chassis 17 and the left chassis 19 through a right arm 14 and a left arm 16, lower joint motors 65 and 95 disposed in the right arm 14 and the left arm 16 and varying vehicle height of the moving body 100, and a control unit 80 that controls the lower joint motors 65 and 95 to lower the vehicle height based on a fail signal 88 output when the inverted wheel type moving body is in an abnormal state.
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Inventors:
Fuwa Toshio
Application Number:
JP2007115150A
Publication Date:
April 25, 2012
Filing Date:
April 25, 2007
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B62K17/00; B62D63/00; B62K3/00
Domestic Patent References:
| JP11500331A | ||||
| JP2000514680A | ||||
| JP2006247802A |
Attorney, Agent or Firm:
Ken Ieiri