PROBLEM TO BE SOLVED: To provide a two-wheeled inverted-pendulum-type vehicle on which one can ride irrespective of the size of girth without providing a special locking function etc., and to provide a method of controlling its attitude and a program.;SOLUTION: The two-wheeled inverted-pendulum-type vehicle includes: a body having a step on which a user rides; a pair of drive units mounted coaxially with the body; right and left wheels rotated and driven by the drive units; a handle on to which a user holds; an operation state detection means 102, which detects an operation state including the attitude information of the two-wheeled inverted-pendulum-type vehicle; an attitude control means 103, which generates a drive speed command of the drive units based on the detected attitude information and an attitude information command to be inputted; and a regulation means 105, which regulates an attitude angle detected using a degree of displacement from horizontal direction of a body pitch angle as a regulation angle in the case of setting the distance between a user and the handle so as to be optimum when a user rides on the step. The attitude control means 103 performs the attitude control using the regulation angle as the attitude information command.;COPYRIGHT: (C)2012,JPO&INPIT
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