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:
Nov. 02, 2010
Filed:
Feb. 01, 2007
Koji Yamada, Toyota, JP;
Masaaki Yamaoka, Toyota, JP;
Toshio Fuwa, Nisshin, JP;
Mitsuo Koide, Nagoya, JP;
Koji Yamada, Toyota, JP;
Masaaki Yamaoka, Toyota, JP;
Toshio Fuwa, Nisshin, JP;
Mitsuo Koide, Nagoya, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, Aichi-ken, JP;
Abstract
The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis. The traveling body further comprises an attitude actuator for shifting the vehicle body along the moving direction of the moving vehicle with respect to the chassis, and a braking attitude control unit for controlling the attitude actuator so as to shift the vehicle body to a direction opposite to the moving direction of the moving vehicle with respect to the chassis when braking is commenced while the moving vehicle is in motion.