Running object and method of controlling the same
First Claim
1. A running object comprising:
- a body;
at least two drive wheels disposed on a first axle;
at least one driven wheel disposed on a second axle, wherein the at least one driven wheel is suspended in the air while the running object is in a standing posture and the at least one driven wheel is placed on a ground while the running object is in a stable posture;
a storing device that stores a target incline pattern that chronologically describes a target incline angle of the body during a transition from the standing posture to the stable posture;
a first detecting device that detects an incline angle and/or an incline angular velocity of the body;
a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the first detecting device; and
an actuator for applying the torque calculated by the torque calculating device to the drive wheels.
1 Assignment
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Accused Products
Abstract
A running object includes a body, at least two drive wheels disposed on a first axle, and at least one driven wheel disposed on a second axle. The running object is capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground. The running object includes a storing device that stores a target incline pattern that chronologically describes the target incline angle of the body during a transition from the standing posture to the stable posture; a detecting device that detects the incline angle and/or the incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the detecting device; and an actuator for applying the torque calculated by the calculating device to the drive wheels.
29 Citations
6 Claims
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1. A running object comprising:
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a body; at least two drive wheels disposed on a first axle; at least one driven wheel disposed on a second axle, wherein the at least one driven wheel is suspended in the air while the running object is in a standing posture and the at least one driven wheel is placed on a ground while the running object is in a stable posture; a storing device that stores a target incline pattern that chronologically describes a target incline angle of the body during a transition from the standing posture to the stable posture; a first detecting device that detects an incline angle and/or an incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the first detecting device; and an actuator for applying the torque calculated by the torque calculating device to the drive wheels. - View Dependent Claims (2, 3, 4, 5)
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6. A method of controlling a running object comprising a body, at least two drive wheels disposed on a first axle, and at least one driven wheel disposed on a second axle, the running object being capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground, the method comprising:
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storing a target incline pattern that chronologically describes a target incline angle of the body during a transition from the standing posture to the stable posture;
detecting an incline angle and/or an incline angular velocity of the body;calculating torque based on a deviation between the target incline pattern stored in the storing step and a detection value detected in the detecting step; and activating an actuator for applying torque to the drive wheels such that the torque calculated in the calculating step is applied to the drive wheels.
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Specification