WHEELED INVERTED PENDULUM MOBILE UNIT
First Claim
1. A wheeled inverted pendulum mobile unit comprising:
- a driving wheel;
a body that is tiltable about an axle of the driving wheel with respect to a vertical direction;
a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and
a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
1 Assignment
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Accused Products
Abstract
A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
12 Citations
18 Claims
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1. A wheeled inverted pendulum mobile unit comprising:
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a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A wheeled inverted pendulum mobile unit comprising:
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a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; a lock mechanism that locks positions of the bottom ends of the support members with respect to the body; and a control unit that executes an inverted pendulum control on the body by driving the driving wheel, wherein the plurality of support members are in contact with the ground without applying a force to the ground during the inverted pendulum control, and wherein by releasing the lock mechanism, the plurality of support members are in contact with the ground without applying a force to the ground during the inverted pendulum control.
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18. A wheeled inverted pendulum mobile unit comprising:
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a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
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Specification