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 PDF

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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
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state
inverted
traveling body
wheel
type traveling
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JP2011122834A
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English (en)
Japanese (ja)
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JP2012250569A5 (ko
JP2012250569A (ja
Inventor
英杰 尹
稔 竹重
裕一郎 中島
快之 仙波
日出輝 梶間
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Toyota Technical Development Corp
Toyota Motor Corp
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Toyota Technical Development Corp
Toyota Motor Corp
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Priority to JP2011122834A priority Critical patent/JP5560234B2/ja
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Publication of JP2012250569A5 publication Critical patent/JP2012250569A5/ja
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    • 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

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  • Motorcycle And Bicycle Frame (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
JP2011122834A 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 Expired - Fee Related JP5560234B2 (ja)

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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)

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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)

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JP2012250569A JP2012250569A (ja) 2012-12-20
JP2012250569A5 JP2012250569A5 (ko) 2013-10-10
JP5560234B2 true JP5560234B2 (ja) 2014-07-23

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015053245A1 (ja) * 2013-10-10 2015-04-16 株式会社村田製作所 手押し車
WO2015053086A1 (ja) * 2013-10-11 2015-04-16 株式会社村田製作所 手押し車
DE102017215399B4 (de) * 2017-09-04 2022-07-14 Ford Global Technologies, Llc Selbstbalancierendes Fahrzeug

Family Cites Families (13)

* Cited by examiner, † Cited by third party
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
US20100017107A1 (en) * 2006-12-27 2010-01-21 Kabushikikaisha Equos Research Traveling vehicle
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

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