PROBLEM TO BE SOLVED: To provide an inverted mobile body hardly moved when being located in a vicinity of an edge of a training area and capable of achieving a control gain in consideration of physical characteristics of a riding person.SOLUTION: An inverted movable body 100 operated according to a centroid movement of a riding person includes: a monitoring section 141 monitoring a peak value of a shift amount in a front/rear direction of an inverted movable body 100 from the center of a training area 300; a comparison section 142 comparing the peak value of the shift amount to a threshold value; a control gain setting section 143 setting a control gain determining movement easiness of the inverted movable body 100 with respect to the centroid movement; and a repeat section 144 causing monitoring, comparison, and setting of the control gain to be performed repeatedly. When the peak value of the shift amount is larger than the threshold, the control gain setting section 143 sets the control gain in a vicinity of an edge in a shift direction of the training area 300 so as to be lowered by a fixed amount.SELECTED DRAWING: Figure 4

    【課題】倒立型移動体が訓練エリアの端部近傍にいる場合に移動しにくくし、且つ搭乗者の身体的特徴を考慮した制御ゲインとすることができる倒立型移動体を提供すること。【解決手段】搭乗者の重心移動に応じて動作する倒立型移動体100は、訓練エリア300の中央からの倒立型移動体100の前後方向へのずれ量のピーク値をモニタリングするモニタリング部141と、ずれ量のピーク値と閾値とを比較する比較部142と、重心移動に対する倒立型移動体100の移動しやすさを決める制御ゲインを設定する制御ゲイン設定部143と、モニタリング、比較、及び制御ゲインの設定を所定回数繰り返し行わせる繰り返し部144と、を備える。制御ゲイン設定部143は、ずれ量のピーク値が閾値より大きい場合、訓練エリア300のずれ方向の端部近傍における制御ゲインを一定量下げるように設定する。【選択図】図4


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    Title :

    INVERTED MOVABLE BODY


    Additional title:

    倒立型移動体


    Contributors:

    Publication date :

    2017-03-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    A63F CARD, BOARD OR ROULETTE GAMES , Kartenspiele, Brettspiele, Roulettespiele / B62K Fahrräder , CYCLES



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