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. 01, 2011
Filed:
Aug. 28, 2007
Koji Yamada, Toyota, JP;
Koji Yamada, Toyota, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, JP;
Abstract
In an inverted pendulum type mobile unit that performs inverted pendulum stabilization control and traveling control based on a velocity target value as an input variable, a change in tilt angle of a vehicle body occurring during traveling is smoothed. The target value generating portion in the inverted pendulum type mobile unit generates the velocity target value Vof the mobile unit and the tilt angular rate target value ωof the vehicle body so that a second-order time derivative of Vis continuous and ωis continuous with respect to time. The controller in the inverted pendulum type mobile unit calculates a torque command value Tfor the motor drivers using Vand ωas a control target to allow the mobile unit to travel at Vwhile maintaining the state where the gravity center of the vehicle body or the gravity center of total mass of the vehicle body and a subject supported on the vehicle body is located above the rotation center of the wheels.