JP5560234B2 - 重心角推定方法及び同方法によって制御される倒立車輪型走行体 - Google Patents
重心角推定方法及び同方法によって制御される倒立車輪型走行体 Download PDFInfo
- Publication number
- JP5560234B2 JP5560234B2 JP2011122834A JP2011122834A JP5560234B2 JP 5560234 B2 JP5560234 B2 JP 5560234B2 JP 2011122834 A JP2011122834 A JP 2011122834A JP 2011122834 A JP2011122834 A JP 2011122834A JP 5560234 B2 JP5560234 B2 JP 5560234B2
- Authority
- JP
- Japan
- Prior art keywords
- state
- inverted
- traveling body
- wheel
- type traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000005484 gravity Effects 0.000 title claims description 121
- 238000000034 method Methods 0.000 title claims description 55
- 238000006243 chemical reaction Methods 0.000 claims description 55
- 230000033001 locomotion Effects 0.000 claims description 47
- 239000013598 vector Substances 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 23
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 claims description 18
- 239000011159 matrix material Substances 0.000 description 24
- 238000013461 design Methods 0.000 description 17
- 230000008859 change Effects 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 11
- 230000007704 transition Effects 0.000 description 9
- 239000002131 composite material Substances 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005283 ground state Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000009795 derivation Methods 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Motorcycle And Bicycle Frame (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011122834A JP5560234B2 (ja) | 2011-05-31 | 2011-05-31 | 重心角推定方法及び同方法によって制御される倒立車輪型走行体 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2011122834A JP5560234B2 (ja) | 2011-05-31 | 2011-05-31 | 重心角推定方法及び同方法によって制御される倒立車輪型走行体 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012250569A JP2012250569A (ja) | 2012-12-20 |
JP2012250569A5 JP2012250569A5 (ko) | 2013-10-10 |
JP5560234B2 true JP5560234B2 (ja) | 2014-07-23 |
Family
ID=47523818
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011122834A Expired - Fee Related JP5560234B2 (ja) | 2011-05-31 | 2011-05-31 | 重心角推定方法及び同方法によって制御される倒立車輪型走行体 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP5560234B2 (ko) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6123906B2 (ja) | 2013-10-10 | 2017-05-10 | 株式会社村田製作所 | 手押し車 |
DE112014004677T5 (de) * | 2013-10-11 | 2016-07-21 | Murata Manufacturing Co., Ltd. | Schiebewagen |
DE102017215399B4 (de) * | 2017-09-04 | 2022-07-14 | Ford Global Technologies, Llc | Selbstbalancierendes Fahrzeug |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3672426B2 (ja) * | 1996-12-19 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの姿勢制御装置 |
JP4063560B2 (ja) * | 2002-03-18 | 2008-03-19 | 株式会社国際電気通信基礎技術研究所 | コミュニケーションロボット |
JP4760162B2 (ja) * | 2005-06-29 | 2011-08-31 | トヨタ自動車株式会社 | 移動台車の制御方法及び移動台車 |
CN100557539C (zh) * | 2005-07-26 | 2009-11-04 | 松下电器产业株式会社 | 倒立二轮行走型机器人及其控制方法 |
JP4887865B2 (ja) * | 2005-12-14 | 2012-02-29 | 株式会社エクォス・リサーチ | 車両 |
JP2007237750A (ja) * | 2006-03-03 | 2007-09-20 | Toyota Motor Corp | 倒立振子型移動体 |
JP5110320B2 (ja) * | 2006-12-27 | 2012-12-26 | 株式会社エクォス・リサーチ | 走行車両 |
JP4947414B2 (ja) * | 2007-03-27 | 2012-06-06 | 株式会社エクォス・リサーチ | 車両 |
JP5024662B2 (ja) * | 2007-03-29 | 2012-09-12 | 株式会社エクォス・リサーチ | 車両 |
JP4418905B2 (ja) * | 2007-05-02 | 2010-02-24 | 株式会社国際電気通信基礎技術研究所 | コミュニケーションロボット |
JP2009154256A (ja) * | 2007-12-27 | 2009-07-16 | Yaskawa Electric Corp | 車輪付脚式移動装置 |
JP4992754B2 (ja) * | 2008-02-25 | 2012-08-08 | トヨタ自動車株式会社 | 倒立車輪式移動ロボットとその制御方法 |
JP5303413B2 (ja) * | 2009-09-24 | 2013-10-02 | 本田技研工業株式会社 | 倒立振子型移動体の制御装置 |
-
2011
- 2011-05-31 JP JP2011122834A patent/JP5560234B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2012250569A (ja) | 2012-12-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4600539B2 (ja) | 走行装置、走行装置の制御方法 | |
JP4760162B2 (ja) | 移動台車の制御方法及び移動台車 | |
EP2093100B1 (en) | Travel gear and its controlling method | |
US8014923B2 (en) | Travel device | |
KR101156822B1 (ko) | 이동체 및 이동체의 제어 방법 | |
JP5395157B2 (ja) | 搬送車及びその制御方法 | |
KR101509884B1 (ko) | 도립진자형 차량 | |
WO2007129505A1 (ja) | 車両、特性量推定装置及び搭載物判定装置 | |
JP2008024235A (ja) | 車両 | |
JP4888778B2 (ja) | 車両 | |
JP5959928B2 (ja) | 倒立振子型車両 | |
JP2007302061A (ja) | 車両 | |
JP6111119B2 (ja) | 倒立振子型車両 | |
JP5560234B2 (ja) | 重心角推定方法及び同方法によって制御される倒立車輪型走行体 | |
CN113031585A (zh) | 移动体的控制装置 | |
JP5041205B2 (ja) | 車両 | |
JP5907037B2 (ja) | 移動体 | |
JP2018184038A (ja) | 倒立振子型車両 | |
JP5041204B2 (ja) | 車両 | |
JP5182657B2 (ja) | 車両 | |
JP2011063240A (ja) | 倒立振子制御型の移動体の制御装置 | |
JP5013244B2 (ja) | 特性量推定装置及び搭載物判定装置 | |
JP5392027B2 (ja) | 車両 | |
WO2010116644A1 (ja) | 車両 | |
JP5928071B2 (ja) | 移動体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130821 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20130821 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20140513 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20140520 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20140609 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5560234 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |