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:
May. 01, 2012
Filed:
Apr. 24, 2008
Toshio Fuwa, Nisshin, JP;
Toshio Fuwa, Nisshin, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, Aichi-ken, JP;
Abstract
An inverted wheel type moving body according to the present invention includes a right chassisand a left chassisrotationally supporting wheels, motorsandrotationally driving a right driving wheeland a left driving wheel, a bodyrotatably supported on the right chassisand the left chassisthrough a right armand a left arm, lower joint motorsanddisposed in the right armand the left armand varying vehicle height, a travel control modulecontrolling the motorsandso as to follow calculated accelerations, and a posture control modulecontrolling the lower joint motorsandto lower the vehicle height and change a position of a center of mass of the bodywith respect to an axle in a front-back direction in accordance with the accelerations when the accelerations exceeds a certain range.