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. 17, 2015
Filed:
May. 21, 2010
Hideki Kajima, Toyota, JP;
Yoshiyuki Semba, Toyota, JP;
Hideki Kajima, Toyota, JP;
Yoshiyuki Semba, Toyota, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-Shi, JP;
Abstract
Provided is a traveling apparatus which performs desired traveling under an inverted pendulum control. The traveling apparatus includes: a ground contact member that operates to come into a ground-contact state or a non-ground-contact state with respect to a road surface; a drive portion that drives the ground contact member; a control portion that controls the drive portion; an abnormality degree calculation portion that calculates a degree of abnormality of a traveling state; and an upper bound calculation portion that changes an upper bound of a distance between the ground contact member and the road surface according to the degree of abnormality of the traveling state calculated by the abnormality degree calculation portion. The control portion controls driving of the drive portion so that the distance between the ground contact member and the road surface is smaller than or equal to the upper bound calculated by the upper bound calculation portion.