Inverted pendulum type moving body having velocity planning device
Inverted pendulum type moving body having velocity planning device
- New search for: NAKAMURA RYOSUKE
- New search for: AMINO AZUSA
- New search for: UEDA TAISHI
- New search for: NAKAMURA RYOSUKE
- New search for: AMINO AZUSA
- New search for: UEDA TAISHI
The present invention provides an inverted pendulum-type moving body having a pair of wheels suspended from the moving body, using a floor as a traveling plane, and is provided on the same plane vertical to its travelling direction, a driving mechanism for rotating these wheels, posture measurement means for measuring an inclination angular velocity of its upper body that a straight line connecting a center-of-gravity position of a body of the moving body and an axle of the one pair of wheels makes with a vertical direction, and a mechanism control part for maintaining an inverted state of the moving body by controlling the driving mechanism, by having a velocity planning device for performing a movement plan so that the upper body angular velocity and the upper body angle may be in a relationship of quadratic function when a velocity change is needed.
Document information
Inverted pendulum type moving body having velocity planning device
2015-11-10
Patent
Electronic Resource
English
| IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62B Von Hand bewegte Fahrzeuge, z.B. Handkarren oder Kinderwagen , HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS / B62K Fahrräder , CYCLES / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen |
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INVERTED PENDULUM TYPE MOVING BODY EQUIPPED WITH VELOCITY PLANNING DEVICE
European Patent Office | 2015