PROBLEM TO BE SOLVED: To prevent a falling at the deformation time from a parallel two-wheel mode to a series two-wheel mode.SOLUTION: A movable body has a deformation attitude control part, and includes: a parallel two-wheel mode by which legs are closed and rotary shafts of wheels coincide with each other; a series two-wheel mode by which legs are opened and rotational directions of the wheels are arranged on a straight line. A first attitude control using an accelerating/decelerating torque of the wheels at the time of the parallel two-wheel mode and a second attitude control using a wheel steering at the time of the series two-wheel mode are performed. The deformation attitude control part performs a correction and an update of a target command for at least one of a travelling motor, a steering motor, and an opening-and-closing leg motor, and performs switching of control on the basis of (1) an attitude angle at the time of switching the control, (2) a travelling speed, and (3) a wheel steering possible range, when deformed from the parallel two-wheel mode to the series two-wheel mode.SELECTED DRAWING: Figure 1

    【課題】走行中における並行2輪モードから直列2輪モードへの変形時の転倒を防ぐ【解決手段】本発明は、変形姿勢制御部を備え、脚が閉脚して前記車輪の回転軸が一致する並行2輪モードと、脚が開脚して前記車輪の回転方向が一直線上に配置される直列2輪モードと、有し、前記並行2輪モード時の車輪の加減速トルクを用いた第1の姿勢制御、及び前記直列2輪モード時の車輪操舵を用いた第2の姿勢制御を行い、前記変形姿勢制御部は、前記並行2輪モードから直列2輪モードに変形する際に、(1)制御切り替え時の姿勢角度、(2)走行速度、(3)車輪操舵可能範囲に基づいて、走行モータ、操舵モータ、及び開閉脚モータの少なくとも1つに対する目標指令の補正と更新を行い、制御の切り替えを行うことを一つの特徴とする。【選択図】図1


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    Titel :

    MOVABLE BODY


    Weitere Titelangaben:

    移動体


    Beteiligte:
    YAMAMOTO AKIHIRO (Autor:in) / NAKAMURA RYOSUKE (Autor:in) / AMINO AZUSA (Autor:in)

    Erscheinungsdatum :

    2017-09-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62K Fahrräder , CYCLES



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