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:
Feb. 04, 2014
Filed:
Sep. 18, 2009
Shinichiro Kobashi, Saitama, JP;
Kazushi Akimoto, Saitama, JP;
Hideo Murakami, Saitama, JP;
Toru Takenaka, Saitama, JP;
Hiroshi Gomi, Saitama, JP;
Shinichiro Kobashi, Saitama, JP;
Kazushi Akimoto, Saitama, JP;
Hideo Murakami, Saitama, JP;
Toru Takenaka, Saitama, JP;
Hiroshi Gomi, Saitama, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicleis provided with a gripat a upper end portion of a base body. A grip-acting external force F acting on the gripis detected by a force sensor. According to the detected grip-acting external force F, a required center-of-gravity velocity generatordetermines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.