Inverted movable body, motion state estimating apparatus and motion state estimating method

摘要

PROBLEM TO BE SOLVED: To more comprehensively estimate an operation state of an inverted pendulum type moving body.SOLUTION: An inverted pendulum type moving body travels, being driven by a motor, while maintaining an inverted pendulum state. The inverted pendulum type moving body includes: first detection means which detects motor rotation information; second detection means which detects motor torque information; and an estimation means which estimates operation state of the inverted pendulum type moving body based on the motor rotation information and torque information detected by the first and second detection means, and map information indicating a prescribed relationship between preset motor rotation information and torque information values and the operation state of the inverted pendulum type moving body.