INVERTED PENDULUM TYPE MOVING BODY EQUIPPED WITH VELOCITY PLANNING DEVICE

摘要

An inverted pendulum type moving body has a small base area, and thus is expected to have applications as a moving body that carries persons, or as a service robot or a dolly for transporting objects. Therefore, it is critical to be able to recover quickly from a disturbance in attitude and to stop within the minimum distance and ensure safety. Accordingly, this inverted pendulum type moving body is equipped with a pair of wheels suspended on the main body of the moving body so as to move on a floor surface and provided in the same plane perpendicular to the direction of advance, a drive mechanism for rotating the wheels, an attitude measurement means that measures the tilt angular velocity of an upper body formed in the direction perpendicular to the line connecting the center of gravity of the main body of the moving body and the axis of the pair of wheels, and a mechanism control unit that maintains the erect state of the main body of the moving body by controlling the drive mechanism, wherein the inverted pendulum type moving body is further equipped with a velocity planning device which, when a change in velocity is necessary during the movement of the moving body, executes a movement plan such that the angular velocity of the upper body and the angle of the upper body have a quadratic function relationship.