RUNNING BODY WITH FRONT WHEEL CHANGED OVER BETWEEN GROUNDING AND LEVITATION AND RUNNING CONDITION CHANGEOVER METHOD

摘要

PPROBLEM TO BE SOLVED: To provide a running body capable of running stably while its front wheels are changed over between the grounded condition and running in levitation without changing the shape. PSOLUTION: The running body includes a means to prepare the indicative speed of the running body for changing over from the front wheel grounded running to the levitated running, wherein the means prepares an indicative speed pattern for making an accelerative running from the first constant speed running with the front wheel grounded and performing the second constant speed running with the front wheel levitated. A first torque calculating means calculates the torque required to make the front wheel grounded running at the indicative speed while a second torque calculating means calculates the torque required to make the front wheel levitated running at the indicative speed. In the front wheel grounded running, the driving wheel(s) is driven with the torque determined by the first torque calculating means. By the accelerative running, the front wheel is levitated, and when the calculating result of the first torque calculating means has become identical to that of the second torque calculating means, the driving wheel is driven by the torque determined by the second torque calculating means so as to continue the running stably. PCOPYRIGHT: (C)2005,JPO&NCIPI