Inverted pendulum type four-wheel travel device

摘要

PPROBLEM TO BE SOLVED: To provide an inverted pendulum type four-wheeled traveling device, capable of longitudinal movement, turning at an as-is status and lateral movement without changing a vehicle direction, and a sufficient level difference riding force even when a level difference exists during longitudinal movement or lateral movement. PSOLUTION: First to fourth wheels 10a to 10d of omnidirectional wheels are supported on a device frame 20 in such a layout that contact points of the respective wheels are arranged in order on the identical straight line. The device frame 20 is provided on an inverted pendulum type oscillating with the axle lines of the first to fourth wheels as the rotational center. In plan view of the first, second, third and fourth wheels, the other end side is brought near to open one end side. Drive motors 15a to 15d are mounted on the first to fourth wheels. Moreover, there is also provided a controller 40 for controlling the drive motors based on an inverted pendulum type control model by inputting a signal of an inclination angle sensor 41 which detects an inclination angle of the device frame 20. PCOPYRIGHT: (C)2011,JPO&INPIT