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. 11, 2016
Filed:
Mar. 13, 2015
Murata Manufacturing Co., Ltd., Kyoto, JP;
MURATA MANUFACTURING CO., LTD., Kyoto, JP;
Abstract
Provided is a mobile body configured to prevent a main body thereof from overturning in a case of being used in a state where an auxiliary wheel is not provided or the auxiliary wheel is not in contact with the ground. In a first control mode, by performing inverted pendulum control all the time, a posture of a main body portion () is maintained to be constant. For example, in the case where a user operates a changeover switch, a controller () shifts to a second control mode in which the rotation of main wheels () is driven and controlled so that an angle of the main body portion () with respect to the vertical direction becomes θ' which is greater than θ. In the second control mode, the main wheels () and an auxiliary wheel () are in contact with the ground.