To improve a turning characteristic of an inverted pendulum vehicle with a simple structure.
The inverted pendulum vehicle traveling by right and left driving wheels is turned by independently controlling rotary shafts of the right and left driving wheels. The right and left wheels are fixed to the shafts via nodes, and the rotary shafts can be independently inclined in a perpendicular direction. Meanwhile, an outer wheel portion of the driving wheel is formed in a rounded projection shape in such a manner that the outside diameter of a width direction central part is larger than the outside diameter on both ends of the width direction. Therefore, when the rotary shaft of the driving wheel is inclined in a perpendicular direction, an effective diameter of the driving wheel is reduced. At the time of turning, the effective diameter is reduced by inclining the rotary shaft of the driving wheel on the inner wheel side, so that the difference of the effective diameter between the inner and outer wheels is provided to the vehicle, for turning.
HORIGUCHI MUNEHISA
NAITO TAKASHI
DOI KATSUNORI
TACHIBANA TAKUMI
| JP2004345608A | 2004-12-09 | |||
| JPH0692273A | 1994-04-05 | |||
| JPH1044799A | 1998-02-17 |
Hitoshi Nakano