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:
Dec. 20, 2016
Filed:
Mar. 11, 2015
Murata Manufacturing Co., Ltd., Kyoto, JP;
MURATA MANUFACTURING CO., LTD., Kyoto, JP;
Abstract
A tire angular velocity controller () is input with a difference between a target value of a rotational angular velocity of 0 for main wheels () and a rotational angular velocity of the main wheels (), which is a differential value of a signal output from a main wheels rotary encoder (). The tire angular velocity controller () calculates an inclination angle for the main body () that will cause the difference to become zero. In a second control mode, the calculated inclination angle is used as a target inclination angle and the difference between this target inclination angle and the inclination angle of the main body () at the present time input from an inclination angle sensor () is input to a main body inclination angle controller ().