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:
Dec. 18, 2012
Filed:
Mar. 15, 2011
Shigeru Tsuji, Nagaokakyo, JP;
Shigeki Fukunaga, Nagaokakyo, JP;
Mitsuhiro Namura, Nagaokakyo, JP;
Koji Kawai, Nagaokakyo, JP;
Kenichi Shirato, Nagaokakyo, JP;
Shigeru Tsuji, Nagaokakyo, JP;
Shigeki Fukunaga, Nagaokakyo, JP;
Mitsuhiro Namura, Nagaokakyo, JP;
Koji Kawai, Nagaokakyo, JP;
Kenichi Shirato, Nagaokakyo, JP;
Murata Manufacturing Co., Ltd., Kyoto, JP;
Abstract
A falling prevention controlling device includes a wheel, and a main body arranged to swing in a pitch direction and a roll direction above the wheel, an advance/retreat command receiving unit arranged to receive an advance or a retreat command of the wheel, a target pitch angle calculating unit arranged to calculate a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle, a pitch inclined angle estimating unit arranged to estimate a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based on the target pitch angle, and a pitch torque command generating unit arranged to generate the pitch torque command based on the target pitch angle and the pitch inclined angle.