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:
Mar. 22, 2016
Filed:
Dec. 09, 2011
Applicants:
Ryosuke Nakamura, Tokyo, JP;
Azusa Amino, Tokyo, JP;
Taishi Ueda, Tokyo, JP;
Inventors:
Assignee:
Hitachi, Ltd., Tokyo, JP;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
G05D 1/08 (2006.01); B60L 15/20 (2006.01); B62K 3/00 (2006.01);
U.S. Cl.
CPC ...
B60L 15/20 (2013.01); B62K 3/007 (2013.01); G05D 1/0891 (2013.01);
Abstract
The invention is directed to an inverted pendulum moving apparatus that may address various kinds of disturbance forces and a control method therefor. The apparatus has one or more wheels coaxially arranged and a center of gravity of parts other than the wheel located above an axle, includes an inversion control part that discriminates a cause of a disturbance force based on a wheel rotation speed of the wheel and the disturbance force and determines output torque to the wheel based on the determination result.