Traveling apparatus, control method therefor, and control program

A control method for a traveling apparatus which comprises:

• a ground contact member that operates to come into one of a ground-contact state and a non-ground-contact state with respect to a road surface;
• and drive means that drives the ground contact member, and which performs desired traveling under an inverted pendulum control, the method comprising:
• calculating a degree of abnormality of a traveling state;
• changing 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;
• and
• controlling driving of the drive means so that the distance between the ground contact member and the road surface is smaller than or equal to the upper bound calculated.

A control program for a traveling apparatus which comprises:

• a ground contact member that operates to come into one of a ground-contact state and a non-ground-contact state with respect to a road surface;
• and drive means that drives the ground contact member, and which performs desired traveling under an inverted pendulum control, the control program causing a computer to execute processing comprising:
• calculating a degree of abnormality of a traveling state;
• changing 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;
• and
• controlling driving of the drive means so that the distance between the ground contact member and the road surface is smaller than or equal to the upper bound calculated.

A traveling apparatus which performs desired traveling under an inverted pendulum control, comprising:

• a ground contact member that operates to come into one of a ground-contact state and 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 driving of the drive unit;
• 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,
• wherein the control portion controls the 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.