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US 8,265,774 B2Granted
Inverted pendulum type moving body and method of controlling the same
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsYoshiyuki Senba, Koji Yamada, Takashi Izuo, Takuya Serai, Mitsuo Koide, Kazutoshi Sukigara, Chisao Hayashi
Life of this patent
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Abstract
An inverted pendulum type moving body according to the present invention includes: first actuators that rotationally drive wheels each disposed on an axle; and a turning motion control portion that controls the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion.
Claims38
An inverted pendulum type moving body, comprising:
- first actuators to rotationally drive at least two wheels each disposed on an axle;
- a turning motion control portion to control the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion, and
- a turning motion calculation portion programmed to calculate a forward and backward rocking motion generated due to a contact between the inverted pendulum type moving body and the obstacle, as a corresponding turning motion with respect to a direction in which the inverted pendulum type moving body turns,
- wherein the turning motion control portion drives and controls the first actuators to perform the turning motion so as to allow the inverted pendulum type moving body to turn and move backwards in a direction away from the obstacle when contact is made with the same.
1 more element
An inverted pendulum type moving body, comprising:
- first actuators to rotationally drive at least two wheels each disposed on an axle;
- a pair of second actuators to rotationally drive a pedestal of an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body portion about an axis parallel to the axle, one actuator of the pair of second actuators being located on one side of the pedestal, and the other actuator of the pair of second actuators being located on an opposite side of the pedestal;
- a rotational motion calculation portion programmed to calculate a forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to a contact between the inverted pendulum type moving body and the obstacle, as a corresponding rotational motion of the upper body portion about the axis parallel to the axle of the inverted pendulum type moving body;
- and
- a rotational motion control portion to drive and control the second actuators to allow the upper body portion to perform the rotational motion so that the forward and backward rocking motion is cancelled out by the rotational motion.
2 more elements
An inverted pendulum type moving body comprising:
- first actuators to rotationally drive at least two wheels each disposed on an axle;
- a pair of second actuators to translationally drive a pedestal of an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body portion about an axis orthogonal to the axle, one actuator of the pair of second actuators being located on one side of the pedestal, and the other actuator of the pair of second actuators being located on an opposite side of the pedestal;
- a translational motion calculation portion programmed to calculate a forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to a contact between the inverted pendulum type moving body and an obstacle, as a corresponding translational motion of the upper body portion in a direction orthogonal to the axle of the inverted pendulum type moving body;
- and
- a translational motion control portion to drive and control the second actuators to allow the upper body portion to perform the translational motion so that the forward and backward rocking motion is cancelled out by the translational motion.
2 more elements
An inverted pendulum type moving body comprising:
- first actuators to rotationally drive at least two wheels each disposed on an axle;
- a pair of second actuators to translationally drive a pedestal of an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body in at least one of a direction about an axis parallel to the axle and a direction orthogonal to the axle, one actuator of the pair of second actuators being located on one side of the pedestal, and the other actuator of the pair of second actuators being located on an opposite side of the pedestal;
- a rotational motion calculation portion programmed to calculate a forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to a contact between the inverted pendulum type moving body and an obstacle, as a corresponding rotational motion of the upper body portion about the axis parallel to the axle of the inverted pendulum type moving body;
- a rotational motion control portion to drive and control the second actuators to allow the upper body portion to perform the rotational motion so that the forward and backward rocking motion is cancelled out by the rotational motion;
- a translational motion calculation portion to calculate the forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to the contact, as a corresponding translational motion of the upper body portion in the direction orthogonal to the axle of the inverted pendulum type moving body;
- and
- a translational motion control portion to drive and control the second actuators to allow the upper body portion to perform the translational motion so that the forward and backward rocking motion is cancelled out by the translational motion.
4 more elements
A method of controlling an inverted pendulum type moving body to rotationally drive at least two wheels each disposed on an axle, comprising allowing the inverted pendulum type moving body to turn when the inverted pendulum type moving body comes into contact with an obstacle;
- calculating, on a processor, a forward and backward rocking motion generated due to a contact between the inverted pendulum type moving body and the obstacle, as a corresponding turning motion in a direction in which the inverted pendulum type moving body turns;
- and
- allowing the inverted pendulum type moving body to turn so as to perform the turning motion and move backwards in a direction away from the obstacle when contact is made with same.
A method of controlling an inverted pendulum type moving body to rotationally drive at least two wheels each disposed on an axle and to rotationally drive an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body portion about an axis parallel to the axle, the method comprising:
- rotationally driving at least two wheels each disposed on an axle with first actuators;
- rotationally driving a pedestal of an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body portion about an axis parallel to the axle with a pair of second actuators, one actuator of the pair of second actuators being located on one side of the pedestal, and the other actuator of the pair of second actuators being located on an opposite side of the pedestal;
- calculating, on a processor, a forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to a contact between the inverted pendulum type moving body and an obstacle, as a corresponding rotational motion of the upper body portion about the axis parallel to the axle of the inverted pendulum type moving body;
- and
- allowing the upper body portion of the inverted pendulum type moving body to perform the rotational motion at the position of the center of mass of the upper body portion about the axis parallel to the axle so that the forward and backward rocking motion is cancelled out by the rotational motion.
2 more elements
A method of controlling an inverted pendulum type moving body to rotationally drive at least two wheels each disposed on an axle and to allow an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body portion in a direction orthogonal to the axle, the method comprising:
- rotationally driving at least two wheels each disposed on an axle with first actuators;
- translationally driving a pedestal of an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body portion about an axis parallel to the axle with a pair of second actuators, one actuator of the pair of second actuators being located on one side of the pedestal, and the other actuator of the pair of second actuators being located on an opposite side of the pedestal;
- calculating, on a processor, a forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to a contact between the inverted pendulum type moving body and an obstacle, as a corresponding translational motion of the upper body portion in the direction orthogonal to the axle of the inverted pendulum type moving body;
- and
- allowing the upper body portion of the inverted pendulum type moving body to perform the translational motion in the direction orthogonal to the axle so that the forward and backward rocking motion is cancelled out by the translational motion.
2 more elements
A method of controlling an inverted pendulum type moving body to rotationally drive at least two wheels each disposed on an axle and to allow an upper body portion of the inverted pendulum type moving body to perform one of rotation and translational driving at a position of a center of mass of the upper body portion in at least one of a direction about an axis parallel to the axle and a direction orthogonal to the axle, the method comprising:
- rotationally driving at least two wheels each disposed on an axle with first actuators;
- rotationally and translationally driving a pedestal of an upper body portion of the inverted pendulum type moving body at a position of a center of mass of the upper body portion about an axis parallel to the axle with a pair of second actuators, one actuator of the pair of second actuators being located on one side of the pedestal, and the other actuator of the pair of second actuators being located on an opposite side of the pedestal;
- calculating, on a processor, a forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to a contact between the inverted pendulum type moving body and an obstacle, as a corresponding rotational motion of the upper body portion about the axis parallel to the axle of the inverted pendulum type moving body;
- allowing the upper body portion of the inverted pendulum type moving body to perform the rotational motion at the position of the center of mass of the upper body portion about the axis parallel to the axle so that the forward and backward rocking motion is cancelled out by the rotational motion;
- calculating the forward and backward rocking motion of the inverted pendulum type moving body, which is generated due to the contact, as a corresponding translational motion of the upper body portion in the direction orthogonal to the axle of the inverted pendulum type moving body;
- and
- allowing the upper body portion of the inverted pendulum type moving body to perform the translational motion at the position of the center of mass of the upper body portion in the direction orthogonal to the axle so that the forward and backward rocking motion is cancelled out by the translational motion.
4 more elements
Dependencies are inferred from the claim text.