To provide a vehicle which can climb up and down a step irrespective of the vehicle for carrying out a posture control by means of an inverted pendulum even when the step, which cannot be passed by an ordinary running method, has appeared.
According to the present vehicle, when the step has been detected by means of a step detecting means, a balancer is brought into contact with a road surface by means of a balancer grounding means, and the posture control is being performed by means of a posture controlling means, and the raising and lowering of a vehicle body is carried out by means of a raising and lowering control means by utilizing the balancer in contact with the road surface as a fulcrum. In this case, because the balancer is provided so as to rotate, the balancer in contact with the road surface serves as an auxiliary wheel when the step is detected. By utilizing the auxiliary wheel as the fulcrum, the climbing up and down of the step, which cannot be usually climbed up and down by a two wheel vehicle, becomes possible. As a result, the movement for avoiding the step, which cannot be climbed up and down, becomes unnecessary, and the waste of time and energy can be suppressed.
COPYRIGHT: (C)2007,JPO&INPIT
| JPS5770781 | CYCLOID MOTOR CAR |
| JP5369602 | vehicle |
| JP4894808 | vehicle |
HORIGUCHI MUNEHISA
TACHIBANA TAKUMI
Naohisa Kaneko
Ai Ito
Tsutomu Hashimoto
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