Inverted pendulum type moving body
AssigneeHonda Motor Co., Ltd.
InventorsToru Takenaka, Shinichiro Kobashi, Taiji Koyama, Hideharu Izumi, Kazuya Kuwabara
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Abstract
An inverted pendulum type moving body moving over a floor surface in a self standing manner, the inverted pendulum type moving body comprising: an information acquisition unit obtaining a state information indicating a current state of an another moving body; and a movement control unit controlling a movement of a self moving body, based on the state information, so that a state of the self moving body with respect to the current state of the another moving body satisfies a predetermined condition established so that the self moving body and the another moving body moves in alignment.
Claims8
An inverted pendulum type moving body system, comprising:
- a self moving body member and an another moving body member, each operable to move over a floor surface in a self standing manner;
- an information acquisition unit for obtaining a state information indicating a current state of the another moving body member including at least a posture information indicating a posture of the another moving body member, said information acquisition unit being operatively attached to one of the self moving body member and the another moving body member;
- and
- a movement control unit for controlling a movement of the self moving body member, based on the state information, so that a state of the self moving body member with respect to the current state of the another moving body member satisfies a predetermined condition established so that the self moving body member and the another moving body member move in alignment, said movement control unit being operatively attached to one of the self moving body member and the another moving body member;
- wherein said another moving body member is different from the self moving body member.
An inverted pendulum type moving body moving over a floor surface in a self standing manner, the inverted pendulum type moving body comprising:
- an information acquisition unit obtaining a state information indicating a current state of an another moving body;
- a movement control unit controlling a movement of a self moving body, based on the state information, so that a state of the self moving body with respect to the current state of the another moving body satisfies a predetermined condition established so that the self moving body and the another moving body moves in alignment;
- and
- an external force detection unit detecting an external force in a horizontal direction acting on a base body of the self moving body, wherein
- the movement control unit executes a feedback control of the self moving body so that the self moving body moves in a direction so as to reduce the external force detected by the external force detection unit.
An inverted pendulum type moving body moving over a floor surface in a self standing manner, the inverted pendulum type moving body comprising:
- an information acquisition unit obtaining a state information indicating a current state of an another moving body;
- and
- a movement control unit controlling a movement of a self moving body, based on the state information, so that a state of the self moving body with respect to the current state of the another moving body satisfies a predetermined condition established so that the self moving body and the another moving body moves in alignment;
- wherein
- the information acquisition unit obtains, as the state information, a posture information indicating a posture of the another moving body;
- and
- the movement control unit controls a movement of the self moving body so that a posture of the self moving body and a posture of the another moving body are maintained at a posture provided as the predetermined condition.
Dependencies are inferred from the claim text.