To provide an inverted pendulum type mobile apparatus which is movable in a desired direction.SOLUTION: A mobile object 1 comprises: a base 10 on which an occupant can get; a plurality of mecanum wheels 20; a driving part 23 capable of driving each of the plurality of mecanum wheels 20; a first sensor 31 capable of outputting a posture signal according to inclination of the base 10; and a control part 40 controlling the driving part 23 based on the posture signal. Each of four mecanum wheels 20 provided on a lower plane 102 of the base 10 has a rotatable wheel 221 and a plurality of barrels 222. The barrel 222 is rotatably provided on radial outside of the wheel 221 while ground-contacting with a contacted ground surface 8, and has a rotation axis at a position deviated with respect to a rotation axis of the wheel 221. Four wheels 21 of the respective four mecanum wheels 20 have rotation axes positioned on a virtual straight line VL1.SELECTED DRAWING: Figure 1

    【課題】 所望の方向に移動可能な倒立振子型移動装置を提供する。【解決手段】 移動体1は、搭乗者が搭乗可能なベース10、複数のメカナムホイール20、複数のメカナムホイール20のそれぞれを駆動可能な駆動部23、ベース10の傾きに応じた姿勢信号を出力可能な第一センサ31、及び、姿勢信号に基づいて駆動部23を制御する制御部40を備える。ベース10の下面102に四個設けられるメカナムホイール20のそれぞれは、回転可能なホイール221及び複数のバレル222を有する。バレル222は、ホイール221の径方向外側に接地面8に接地しつつ回転可能に設けられ、ホイール221の回転軸に対してずれた位置に回転軸を有する。四個のメカナムホイール20のそれぞれが有する四個のホイール21は、回転軸が仮想直線VL1上に位置する。【選択図】 図1


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    Title :

    INVERTED PENDULUM TYPE MOBILE APPARATUS


    Additional title:

    倒立振子型移動装置


    Contributors:

    Publication date :

    2018-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B62K Fahrräder , CYCLES



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