The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 24, 2010
Filed:
Oct. 11, 2006
Susumu Oikawa, Kanagawa, JP;
Susumu Oikawa, Kanagawa, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, JP;
Abstract
A traveling apparatus is provided with two wheels parallel each of which is driven independently, being controlled to be stable in an anteroposterior direction between the two wheels and traveling. The traveling apparatus includes a mechanism estimating an inclination of a plane where a pitch angular velocity sensor is horizontally installed with respect to a horizontal plane by using a sensor measuring a tilt of a vehicle body in a roll axis direction and a mechanism calculating a correct pitch angle by obtaining a yaw rate mixed in the pitch angular velocity sensor based on the estimated inclination and a turn velocity of the vehicle body and by canceling the yaw rate mixed.