Title:
走行装置及びその制御方法
Document Type and Number:
Japanese Patent JP4957769
Kind Code:
B2
Abstract:
A traveling apparatus performs an inverted pendulum control to maintain an inverted state of a vehicle body and travels with a passenger thereon. The traveling apparatus includes a drive portion that drives the vehicle body; a riding detection portion that detects a start of riding on the vehicle body by the passenger; a command generation portion that generates a torque command value to perform the inverted pendulum control and a position control to move the vehicle body to a position that facilitates the riding, when the start of riding is detected by the riding detection portion; and a control portion that controls the drive portion based on the torque command value generated by the command generation portion.
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Inventors:
Yusuke Kosaka
Application Number:
JP2009207105A
Publication Date:
June 20, 2012
Filing Date:
September 08, 2009
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B60L15/20; B62K17/00; B62K3/00
Domestic Patent References:
| JP2006131115A | ||||
| JP2007331443A | ||||
| JP2004295430A | ||||
| JP2008120347A |
Foreign References:
| WO2007001083A1 |
Attorney, Agent or Firm:
Ken Ieiri