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WO2008136342A1 - 倒立車輪型移動体、及びその制御方法 - Google Patents

倒立車輪型移動体、及びその制御方法 Download PDF

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Publication number
WO2008136342A1
WO2008136342A1 PCT/JP2008/057910 JP2008057910W WO2008136342A1 WO 2008136342 A1 WO2008136342 A1 WO 2008136342A1 JP 2008057910 W JP2008057910 W JP 2008057910W WO 2008136342 A1 WO2008136342 A1 WO 2008136342A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
controlling
motors
type mobile
mobile body
Prior art date
Application number
PCT/JP2008/057910
Other languages
English (en)
French (fr)
Inventor
Toshio Fuwa
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Priority to CA2658310A priority Critical patent/CA2658310C/en
Priority to US12/375,943 priority patent/US8170781B2/en
Publication of WO2008136342A1 publication Critical patent/WO2008136342A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

　本発明にかかる倒立車輪型移動体は、車輪を回転可能に支持する右車台１７、左車台１９と、右駆動輪１８、左駆動輪２０を回転駆動するモータ３４、３６と、右アーム１４及び左アーム１６を介して右車台１７、左車台１９に対して回動可能に支持された車体１２と、右アーム１４及び左アーム１６に設けられ、車高を変化させる下関節モータ６５、９５と、算出された加速度に追従するよう、モータ３４、３６を制御する走行制御モジュール８１と、加速度が一定範囲を越えていた場合に、車高を下げるとともに、加速度に応じて車軸に対する車体１２の重心位置が前後方向に変化するように、下関節モータ６５、９５を制御する姿勢制御モジュール８２とを、備えるものである。
PCT/JP2008/057910 2007-04-27 2008-04-24 倒立車輪型移動体、及びその制御方法 WO2008136342A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA2658310A CA2658310C (en) 2007-04-27 2008-04-24 Inverted wheel type moving body and method of controlling the same
US12/375,943 US8170781B2 (en) 2007-04-27 2008-04-24 Inverted wheel type moving body and method of controlling the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007117972A JP4735598B2 (ja) 2007-04-27 2007-04-27 倒立車輪型移動体、及びその制御方法
JP2007-117972 2007-04-27

Publications (1)

Publication Number Publication Date
WO2008136342A1 true WO2008136342A1 (ja) 2008-11-13

Family

ID=39943453

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/057910 WO2008136342A1 (ja) 2007-04-27 2008-04-24 倒立車輪型移動体、及びその制御方法

Country Status (4)

Country Link
US (1) US8170781B2 (ja)
JP (1) JP4735598B2 (ja)
CA (1) CA2658310C (ja)
WO (1) WO2008136342A1 (ja)

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JP5358374B2 (ja) * 2009-09-24 2013-12-04 本田技研工業株式会社 車両
WO2011108029A1 (ja) * 2010-03-05 2011-09-09 トヨタ自動車株式会社 倒立二輪装置、その制御方法及び制御プログラム
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CA3040928A1 (en) 2016-10-18 2018-04-26 Piaggio Fast Forward, Inc. Vehicle having non-axial drive and stabilization system
US10173738B2 (en) 2016-10-18 2019-01-08 Piaggio Fast Forward, Inc. Vehicle having stabilization system
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USD846452S1 (en) 2017-05-20 2019-04-23 Deka Products Limited Partnership Display housing
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USD1047785S1 (en) 2017-05-20 2024-10-22 Deka Products Limited Partnership Toggle control device
IT201700114497A1 (it) 2017-10-11 2019-04-11 Piaggio Fast Forward Inc Veicolo a due ruote con sistema di stabilizzazione lineare
US10719085B2 (en) * 2018-02-22 2020-07-21 Boston Dynamics, Inc. Mobile robot sitting and standing
EP3788452B1 (en) 2018-05-01 2024-07-03 Piaggio Fast Forward, Inc. Method for determining self-driving vehicle behavior models, a self-driving vehicle, and a method of navigating a self-driving vehicle
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Publication number Priority date Publication date Assignee Title
JPH08119175A (ja) * 1994-08-30 1996-05-14 Honda Motor Co Ltd 自動二輪車における車高調整方法
JP2003528756A (ja) * 1999-03-15 2003-09-30 デカ・プロダクツ・リミテッド・パートナーシップ バランスをとる個人用乗物の制御
JP2003271243A (ja) * 2002-03-18 2003-09-26 Advanced Telecommunication Research Institute International コミュニケーションロボット
JP2005112300A (ja) * 2003-10-10 2005-04-28 Toyota Motor Corp 乗り物
JP2006306375A (ja) * 2005-03-11 2006-11-09 Equos Research Co Ltd 車両
JP2007011634A (ja) * 2005-06-29 2007-01-18 Toyota Motor Corp 移動台車の制御方法及び移動台車

Also Published As

Publication number Publication date
JP4735598B2 (ja) 2011-07-27
CA2658310C (en) 2012-06-12
CA2658310A1 (en) 2008-11-13
JP2008273344A (ja) 2008-11-13
US8170781B2 (en) 2012-05-01
US20090319124A1 (en) 2009-12-24

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