Inverted pendulum type moving body and educational materials

摘要

PPROBLEM TO BE SOLVED: To provide an inverted pendulum type movable body capable of performing operations in response to the movement of an occupant. PSOLUTION: The inverted pendulum type movable body includes: a pair of wheels 4, 5 capable of being independently rotatable, whose rotary shafts are disposed in a direction orthogonal to the travelling direction on the same axis; a first motor 6 and a second motor 7 that rotationally and independently drive the pair of wheels 4, 5; a boarding stand 3 having a top plane surface on which an occupant boards; an inclination sensor 15 that detects the inclination angle of the boarding stand 3 in the travelling direction; a main controller 10 that PID controls the revolutions of the first motor 6 and second motor 7 based on the detected inclination angles detected by the inclination sensor 15; and a control parameter adjustment switch 16b that adjusts the control parameters of the main controller 10. PCOPYRIGHT: (C)2010,JPO&INPIT