TRAVELING APPARATUS AND CONTROL METHOD THEREFOR
First Claim
1. A traveling apparatus which performs an inverted pendulum control to maintain an inverted state of a vehicle body and travels with a passenger thereon, comprising:
- drive means that drives the vehicle body;
riding detection means that detects a start of riding on the vehicle body by the passenger;
command generation means 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 ride when the start of riding is detected by the riding detection means; and
control means that controls the drive means based on the torque command value generated by the command generation means.
1 Assignment
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Accused Products
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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Citations
8 Claims
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1. A traveling apparatus which performs an inverted pendulum control to maintain an inverted state of a vehicle body and travels with a passenger thereon, comprising:
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drive means that drives the vehicle body; riding detection means that detects a start of riding on the vehicle body by the passenger; command generation means 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 ride when the start of riding is detected by the riding detection means; and control means that controls the drive means based on the torque command value generated by the command generation means. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A control method for a traveling apparatus which performs an inverted pendulum control to maintain an inverted state of a vehicle body and travels with a passenger thereon, the method comprising:
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detecting a start of riding on the vehicle body by the passenger; generating 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; and controlling driving of the vehicle body based on the generated torque command value.
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8. A traveling apparatus which performs an inverted pendulum control to maintain an inverted state of a vehicle body and travels with a passenger thereon, comprising:
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wheel drive units that drive 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 wheel drive units based on the torque command value generated by the command generation portion.
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Specification