Abstract: Heat generated by a drive source of a friction drive device such as an electric motor is allowed to efficiently dissipate to the atmosphere, and the friction drive device and an omni-directional vehicle using the same is designed in a highly compact manner. Left and right electric drive devices are placed on a central axial line of left and right rotatable drive members, and external teeth members serving as output members of the electric drive devices are directly connected to the respective rotatable drive members in a torque transmitting and heat transmitting relationship.

Abstract: In a friction drive device comprising first free rollers and second free rollers contacting each other at the outer circumferential surfaces thereof to frictionally transmit power from the second free rollers to the first free rollers, in order to minimize the slippage between the first and second free rollers, minimize the power loss and cause the first free rollers to move as designed, an outer peripheral part of each first free roller defining an outer circumferential surface thereof has a different stiffness from that of an outer peripheral part of each second free roller defining an outer circumferential surface thereof.

Abstract: [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner. [Solution] An annular member (51) comprises a C-shaped main body (61) and a complementary member (62) defining an endless annular shape jointly with the main body (61), a joint (63) between the main body (61) and complementary member (62) includes mating surfaces that are non-perpendicular to the cross sectional center line of the annular member, and the main body (61) and the complementary member (62) are fixedly joined to each other by using a threaded bolt (64) passed radially through the mating surfaces.

Abstract: A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 includes a first processing mode and a second processing mode. In the first processing mode, determines a manipulated variable for control so as to bring a tilt angle of a payload supporting part 3 and a traveling velocity of a representative point of the vehicle 1 closer to a desired value. In the second processing mode, the traveling motion unit controlling element 50 determines the manipulated variable for control while making a sensitivity to change of the manipulated variable for control with respect to a measured value of the traveling velocity of the representative point to be relatively lower than that in the first processing mode.

Abstract: An inverted pendulum type moving body moving over a floor surface in a self standing manner, the inverted pendulum type moving body comprising: an information acquisition unit obtaining a state information indicating a current state of an another moving body; and a movement control unit controlling a movement of a self moving body, based on the state information, so that a state of the self moving body with respect to the current state of the another moving body satisfies a predetermined condition established so that the self moving body and the another moving body moves in alignment.

Abstract: A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member.

Abstract: The omni-directional drive device comprises a main wheel (2) comprising an endless annular member rotatable around a center of cross section perpendicular to a corresponding tangential line, electric motors (5R and 5L) for producing rotative forces around the rotation axis of the main wheel (2) and around the center of cross section perpendicular to a corresponding tangential line of the main wheel (2) and an arrangement (rotary members (4R and 4L) fitted with free rollers (3R and 3L)) for converting the rotational forces of the electric motors (5R and 5L) to the rotational forces around the rotation center of the main wheel (2) and around the center (C) of cross section perpendicular to a corresponding tangential line of the main wheel (2).

Abstract: Provided is a vehicle that can make tight turns without significantly changing an attitude of a rider, and is highly convenient in narrow places. A omni-directional one-wheeled vehicle comprises a vehicle body (7) and a secondary wheel (35) configured to contact a ground surface at a point displaced from a contact point of a driven road wheel (2).

Abstract: Provided is an inverted pendulum mobile vehicle such as a single-passenger coaxial two-wheel vehicle which is capable of turning with a small turning radius without causing discomfort to a rider or a vehicle occupant or causing a cargo or the like on the vehicle from shifting or falling off from the vehicle. The vehicle comprises a wheel supporting frame (12), a body frame (12) supported by the wheel supporting frame so as to be rotatable around a vertical axial line and carry a rider and or a cargo and a body coupler (52, 78, 70) that couples the body frame relative to the wheel supporting frame in a prescribed dynamic positional relationship.

Abstract: Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable ?b_xy_offset is satisfied (STEP 21), a posture control calculator 80 performs a first mode arithmetic process (STEP 22) to update the tilt offset adjusting variable ?b_xy_offset, and meanwhile determines imaginary wheel rotational angular acceleration commands ?wdot_x_cmd and ?wdot_y_cmd via a second mode arithmetic process (STEP 23) by using the tilt offset adjusting variable ?b_xy_offset updated in the first mode arithmetic process.

Abstract: In an inverted pendulum type vehicle (1) configured to travel on a ground surface (G) while maintaining an upright posture under an inverted pendulum control, comprising a base frame (2) supporting a propulsion unit (3), the propulsion unit including a main wheel (85) configured to roll on the ground surface, and a seat unit (4) provided on the base frame for supporting hips of a rider (H), the seat unit includes a saddle (63) having at least a center (C) located ahead of an axial line (B) extending between a rotational center line (A) of the main wheel and a gravitational center (Gt1) of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.

Abstract: A control device of an inverted pendulum type vehicle capable of controlling fluctuation of a traveling velocity of a vehicle according to operating state of the vehicle. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 includes a first processing mode and a second processing mode. In the first processing mode, determines a manipulated variable for control so as to bring a tilt angle of a payload supporting part 3 and a traveling velocity of a representative point of the vehicle 1 closer to a desired value. In the second processing mode, the traveling motion unit controlling element 50 determines the manipulated variable for control while making a sensitivity to change of the manipulated variable for control with respect to a measured value of the traveling velocity of the representative point to be relatively lower than that in the first processing mode.

Abstract: Provided is a control device capable of imparting a driving force appropriate for controlling a tilt angle of a loading part to a traveling motion unit, despite the weight of an object to be transported mounted on the loading part capable of freely tilting of an inverted pendulum type vehicle. Velocity command values for defining a desired value of a traveling velocity of a traveling motion unit 5 so as to bring an tilt error between a measured value of the tilt angle of a loading part 3 of an inverted pendulum type vehicle 1 and a desired tilt angle of a predetermined value close to 0 is sequentially determined, and an actuator 7 is controlled so as to make the actual traveling velocity of the traveling motion unit 5 follow a desired value of the traveling velocity defined by the velocity command value.

Abstract: Provided is a controller of an inverted pendulum type vehicle capable of being moved smoothly by a guided subject as a support. In the inverted pendulum type vehicle 1, an upper portion of a base body 9 is fixed with a grip 18 extending vertically, and a joystick 20 is disposed at an upper end of the grip 18 and is configured to be held by a guided subject to issue commands to every direction of 360° according to thumb operations thereof. A manipulated variable of the joystick 20 is detected by a position sensor 55, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities of Vb_x_aim and Vb_y_aim according to the detected manipulated variable of the joystick 20, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.

Abstract: Provided is a control device of an inverted pendulum type vehicle capable of moving the vehicle toward a desired direction easily. In the inverted pendulum type vehicle 1, one end of a cord member C is connected to a seat 3 via an engagement member 4. A tension of the cord member C is detected by a triaxial force sensor. According to the detected tension of the cord member C, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and a manipulated variable for control is determined according thereto.

Abstract: Provided is a control device of an inverted pendulum type mobile apparatus capable of support the body of a user on a base body with a foot of the user standing on the floor in a reclining state. If the reclining state where the user has the body supported by the base body with a foot thereof standing on the floor when the mobile apparatus 1 is in halt state is detected, a control unit 50 determines a manipulated variable for control (imaginary wheel rotational angular acceleration command) so as to drive a travelling motion unit 5 toward a direction for the base body 9 to support the body of the user.

Abstract: A control device of an inverted pendulum type vehicle capable of easily performing a circling movement of the vehicle, without requiring complex maneuvering operation. A control unit 50 of an inverted pendulum type vehicle 1 determines a desired tilt angle of a payload supporting part 3 according to a yaw rate measured value by a yaw rate sensor 53 equipped to the vehicle 1, and controls a traveling motion of a traveling motion unit 5 so as to bring an actual tilt angle close to the desired tilt angle.

Abstract: To provide a control device of an inverted pendulum type vehicle capable of making an occupant perform boarding action or dismounting action easily. A traveling motion unit controlling element 50 of an inverted pendulum type vehicle 1 controls a traveling motion of a traveling motion unit 5 so that, in a mode for transition period at the time when the occupant intends to board or dismount from vehicle, a sensitivity of change of a traveling velocity or a sensitivity of change of a traveling acceleration of the traveling motion unit 5 with respect to a change in the actual tilt angle of a payload supporting part 3 (at least a tilt angle about an axis in one direction), at least in a part of the period, to be smaller than that in the during-boarding mode when the occupant is aboard.

Abstract: Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle 1 is provided with a grip 18 at a upper end portion of a base body 9. A grip-acting external force F acting on the grip 18 is detected by a force sensor 55. According to the detected grip-acting external force F, a required center-of-gravity velocity generator 74 determines required center-of-gravity velocities Vb_x_aim and Vb_y_aim, and on the basis thereof, a traveling motion unit controller determines a manipulated variable for control.

Abstract: In an inverted pendulum type vehicle, a manipulated variable for control of a traveling motion unit is determined using adjustment parameters Ki_x, Ki_y (i=1, 2, 3) and ?b_x_obj, ?b_y_obj, which changes its value in accordance with whether it is in the loaded state in which an object to be transported is loaded on a loading part of the inverted pendulum type vehicle, or whether it is in the non-loaded state in which the object to be transported is not loaded thereon. The adjustment parameters are changed at a faster rate of change in the case of the transition from the loaded state to the non-loaded state, than in the case of the transition from the non-loaded state to the loaded state. The adjustment parameters for control are changed appropriately during transition while suppressing occurrence of slipping of the traveling motion unit.