Moving body, method of controlling the same, and program

A method of controlling travelling of a moving body, the moving body comprising:

• a support member configured to support a subject and capable of oscillating at least in a front-back direction of the moving body during travelling of the moving body;
• at least one ground-contacting element with a circular cross section, the ground-contacting element attached to the support member;
• a drive portion configured to apply torque to the ground-contacting element;
• and
• a control loop coupled to the drive portion and configured to control the drive portion to adjust the torque applied to the ground-contacting element so as to allow the moving body to travel while keeping an inverted state of the support member, the method comprising:
• controlling the drive portion by the control loop to apply normal torque and additional torque to the ground-contacting element, the normal torque being determined according to a deviation between a target value and a controlled variable including at least one of an inclination angular velocity and an inclination angle of the support member in the front-back direction, the additional torque being proportional to a velocity parameter of the moving body raised to the exponential power of N, the velocity parameter being proportional to a velocity of the moving body, wherein N is greater than 1.

A non-transitory computer readable media storing a program for causing a computer to exercise travelling control over a moving body, the moving body comprising:

• a support member configured to support a subject and capable of oscillating at least in a front-back direction of the moving body during travelling of the moving body;
• at least one ground-contacting element with a circular cross section, the ground-contacting element attached to the support member;
• a drive portion configured to apply torque to the ground-contacting element;
• and
• a control loop coupled to the drive portion and configured to control the drive portion to adjust the torque applied to the ground-contacting element so as to allow the moving body to travel while keeping an inverted state of the support member, the travelling control comprising:
• controlling the drive portion by the control loop to apply normal torque and additional torque to the ground-contacting element, the normal torque being determined according to a deviation between a target value and a controlled variable including at least one of an inclination angular velocity and an inclination angle of the support member in the front-back direction, the additional torque being proportional to a velocity parameter of the moving body raised to the exponential power of N, the velocity parameter being proportional to a velocity of the moving body, wherein N is greater than 1.