Inverted pendulum type moving body, control device, and a control method

摘要

PPROBLEM TO BE SOLVED: To provide a mobile body capable of reducing, even when an article such as a baggage is hung thereon, the swing of the article such as a baggage. PSOLUTION: This mobile body includes a driven mechanism which can move on a traveling surface, a drive part which generates a drive force for driving the driven mechanism, and a base in which the driven mechanism and the drive part are assembled. The mobile body further includes an angle detection part for detecting the inclination angle of the base, a locking part which locks the article and is provided to the base, a force sensor for measuring a force applied to the locking part, a swing angle estimating part for estimating, based on the force measured by the force sensor, the swing angle of the article locked by the locking part, and a drive control part for controlling the drive part based on the inclination angle detected by the angle detection part and the swing angle estimated by the swing angle estimating part. PCOPYRIGHT: (C)2011,JPO&INPIT