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:
Oct. 01, 2013
Filed:
Sep. 23, 2009
Toru Takenaka, Saitama, JP;
Kazushi Akimoto, Saitama, JP;
Shinichiro Kobashi, Saitama, JP;
Hideo Murakami, Saitama, JP;
Yuichi Uebayashi, Saitama, JP;
Toru Takenaka, Saitama, JP;
Kazushi Akimoto, Saitama, JP;
Shinichiro Kobashi, Saitama, JP;
Hideo Murakami, Saitama, JP;
Yuichi Uebayashi, Saitama, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable θb_xy_offset is satisfied (STEP), a posture control calculatorperforms a first mode arithmetic process (STEP) to update the tilt offset adjusting variable θb_xy_offset, and meanwhile determines imaginary wheel rotational angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd via a second mode arithmetic process (STEP) by using the tilt offset adjusting variable θb_xy_offset updated in the first mode arithmetic process.