Inverted pendulum moving apparatus and control method therefor

摘要

The invention is directed to an inverted pendulum moving apparatus that may address various kinds of disturbance forces and a control method therefor. The apparatus has one or more wheels coaxially arranged and a center of gravity of parts other than the wheel located above an axle, includes an inversion control part that discriminates a cause of a disturbance force based on a wheel rotation speed of the wheel and the disturbance force and determines output torque to the wheel based on the determination result.