Honda Motor Co., Ltd.

Yuichi Uebayashi

Kazushi Akimoto

Toru Takenaka

Shinichiro Kobashi

Hiroshi Gomi

Hideo Murakami

Kazushi Hamaya

Tomohiro Kawakami

Hironori Waita

Shunichi Miyagishi

Kazunari Iguchi

Yotaro Mori

Shinya Shirokura

Makoto Araki

Hiroyuki Kaneta

Wataru Yada

Susumu Miyazaki

Hiroyoshi Kobayashi

Masaki Ishizeki

Tohru Yumoto

Hisashi Ishida

Kenichi Katagiri

Yosuke Ikedo

Yasuhiko Jinbu

Taihei Setoguchi

Kazunari Iguch

The rocking control device for a two front wheels rocking vehicle includes a controller that executes a first rocking control which assists a rocking of the two front wheels rocking vehicle and a second rocking control which assists the two front wheels rocking vehicle so that the two front wheels rocking vehicle self-stands at a rocking balanced position where a rocking moment of the vehicle body is canceled out in a lateral direction, wherein controller is configured to switch the first rocking control and the second rocking control to OFF state, and is configured to operate the first rocking control and the second rocking control in combination.

Rocking control device for two front wheels rocking vehicle

A rocking control device for a two front wheels rocking vehicle includes a high rigidity self-standing controller that executes a high rigidity self-standing control that locks the rocking of the two front wheels rocking vehicle and that assists a self-standing of the two front wheels rocking vehicle, a switch that switches the high rigidity self-standing control to ON or OFF state, and an offset cancellation controller that executes an offset cancellation control that maintains the self-standing state of the two front wheels rocking vehicle until a predetermined traveling state when the high rigidity self-standing control is switched off.

A joint mechanismhas a zigzag structureextending in a zigzag pattern between a first memberand a second member. A flexible lengthy memberfixed to the first memberextends from the first membertoward the second memberand is travelable with respect to the second member. A tension application unitthat applies a tension to the flexible lengthy memberis configured to be capable of changing a tension to apply.

Joint mechanism

A control device () of a mobile body () calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body () from a predetermined reference position with respect to the vehicle body (), and determines a control input for an actuator (), which can cause a moment in the roll direction to act on the vehicle body (), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device () controls the actuator () in accordance with the control input.

Mobile body

A control device () of a mobile body () calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (), and determines a control input for an actuator () which can cause a moment in the roll direction to act on the vehicle body () so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device () controls the actuator () in accordance with the control input.

An axle extends in an axial direction. A front wheel is rotatable around a wheel rotational axis. A front wheel supporting arm rotatably supports the axle. A front fork swingably supports the front wheel supporting arm such that the front wheel supporting arm is rotatable in a first direction about the wheel rotational axis. A rotary member is rotatable together with the axle around the wheel rotational axis. An axle rotation detector is supported on the axle opposite to the rotary member in the axial direction to be rotatable around the wheel rotational axis to detect a difference between rotational speeds of the axle rotation detector and the rotary member. A link mechanism is provided between the axle rotation detector and the front fork to turn the axle rotation detector in a second rotational direction opposite to the first rotational direction about the wheel rotational axis.

Straddle-type vehicle

A mobile vehiclehas two wheelson the rear side of a vehicle body, and is capable of causing a roll driving moment to act on the vehicle bodyby an actuatorin a roll driving mechanism. A control devicecontrols the actuatorsuch that the function characteristics of the roll driving moment implemented by the control of the actuatorwith respect to a vehicle body roll angle (inclination angle in the roll direction of the vehicle body) become as shown in FIG.A orB.

Mobile vehicle

In an inverted pendulum type vehicle having a lower frame () and an upper frame () detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit () is incorporated in the lower frame, and a battery unit () is received in the upper frame and configured to supply electric power to the drive unit via an electric unit () received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.

Inverted pendulum type vehicle

Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle, one end of a cord member C is connected to a seatvia an engagement member. A tension of the cord member C is detected by a triaxial force sensor. According to the detected tension of the cord member C, a required center-of-gravity velocity generatordetermines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and a manipulated variable for control is determined according thereto.

Control device of inverted pendulum type vehicle

Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable &#x3b8;b_xy_offset is satisfied (STEP), a posture control calculatorperforms a first mode arithmetic process (STEP) to update the tilt offset adjusting variable &#x3b8;b_xy_offset, and meanwhile determines imaginary wheel rotational angular acceleration commands &#x3c9;wdot_x_cmd and &#x3c9;wdot_y_cmd via a second mode arithmetic process (STEP) by using the tilt offset adjusting variable &#x3b8;b_xy_offset updated in the first mode arithmetic process.

Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatusis in halt state is detected, a control unitdetermines a manipulated variable for control (imaginary wheel rotational angular acceleration command) so as to drive a travelling motion unittoward a direction for the base bodyto support the body of the user.

Control device of inverted pendulum type mobile apparatus

A recharging system for a rechargeable battery () of an inverted pendulum type vehicle () comprises a stand () for holding the vehicle in a substantially upright posture by using a supporting member () that engages a prescribed part of the vehicle, a power feed device () is provided on the stand, and a power take device () provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.

Recharging system for a rechargeable battery of an inverted pendulum type vehicle

A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling elementof an inverted pendulum type vehicleincludes a first processing mode and a second processing mode. In the first processing mode, determines a manipulated variable for control so as to bring a tilt angle of a payload supporting partand a traveling velocity of a representative point of the vehiclecloser to a desired value. In the second processing mode, the traveling motion unit controlling elementdetermines the manipulated variable for control while making a sensitivity to change of the manipulated variable for control with respect to a measured value of the traveling velocity of the representative point to be relatively lower than that in the first processing mode.

A frictional drive device comprises a pair of drive disks () each rotatably supported by a frame () around a central axial line (A) in a mutually opposing relationship, and a pair of actuators () supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers () arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel () disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member () and a plurality of driven rollers () supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit () may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.

Frictional drive device and inverted pendulum type vehicle using the same

An actuator and a robot are capable of properly adjusting the compliance of the motions of links in response to external forces according to an environment or application. The actuator sets a drive command angular velocity on the basis of a desired motor angular velocity, which is the resultant angular velocity of a desired link angular velocity and a desired driven angular velocity. The component of the desired link angular velocity included in a resultant desired velocity imparts stiffness to the motion of a link, while the component of the desired driven angular velocity included in the resultant desired velocity imparts flexibility to the motion of the link. Thus, the balance between the stiffness and the flexibility of the motion of the link is adjusted by adjusting the resultant ratio between the desired link angular velocity and the desired driven angular velocity.

Growing community of inventors

Saitama, Japan

Yuichi Uebayashi