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INVERTED PENDULUM TYPE MOVING BODY EQUIPPED WITH VELOCITY PLANNING DEVICE
INVERTED PENDULUM TYPE MOVING BODY EQUIPPED WITH VELOCITY PLANNING DEVICE
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机译:装备有速度计划装置的倒立摆式运动机构
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摘要
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.
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