Abstract: In an inverted pendulum type vehicle having a traveling motion unit, when a component about an axis in a second direction and a component about an axis in a first direction from within a tilt error between an actual tilt angle and a desired tilt angle of the payload supporting part are defined as ?be_x_s and ?be_y_s, respectively, and when a component in the first direction and a component in the second direction from within a traveling velocity of a representative point of the vehicle in a stationary state in which ?be_x_s and ?be_y_s are retained constant are defined as ?b_x_stb and ?b_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of ?b_x_stb with respect to a magnitude of ?be_x_s and a ratio of a magnitude of ?b_y_stb with respect to ?be_y_s becomes a ratio different from each other.

Abstract: An omnidirectional vehicle capable of enhancing straight-line stability is provided. Within a period from the instant the execution of velocity component attenuation processing for reducing continuously or stepwise the magnitude of a desired velocity vector ?Vb_aim of a predetermined representative point of a vehicle 1 having a traveling motion unit 5 capable of moving in all directions, including a first direction and a second direction, on a floor surface is started to the instant the magnitude of ?Vb_aim attenuates to zero, the orientation of ?Vb_aim is brought closer to the first direction. The first direction is defined as the fore-and-aft direction of an occupant aboard the vehicle 1, while the second direction is defined as the lateral direction of the occupant.

Abstract: A control device of an inverted pendulum type vehicle capable of simplifying the steering of the vehicle, and of improving handling quality thereof, is provided. A control unit 50 of an inverted pendulum type vehicle sequentially determines a target-of-retaining velocity magnitude amount which is a magnitude of a desired velocity of a predetermined representative point in a predetermined period of time, or a magnitude of a component in a predetermined direction of the desired velocity, to be retained stable to a value identical to the target-of-retaining velocity magnitude amount in relation to the desired velocity determined immediately before start of the period of time, in the case where a predetermined condition is satisfied, and control the traveling motion of a traveling motion unit 5 in accordance with the determined desired velocity.

Abstract: In a frictional drive vehicle, a load acting on the vehicle such as the weight of a rider is converted into a force that urges two frictionally engaging parts (3L, 3R, 25) toward each other. Thereby, the contact pressure between the two frictionally engaging parts is maintained at an optimum level under all conditions. A weight of a rider may be transmitted to a drive member that frictionally engages a main wheel via a four-link parallel link mechanism (40, 50).

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: [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: 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: In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.

Abstract: [Task] Provided is a vehicle that can make tight turns without significantly changing an attitude of a rider, and is highly convenient in narrow places. [Solution] 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 omni-directional drive device that does not complicate the arrangement for a power source for a drive source such as an electric motor, and achieves a high durability and an ease of maintenance. A drive force in a first direction is produced by a movement of a first moveable member (10) itself, and a drive force in a second direction is produced by the rotation of first free rollers (14) retained by the first moveable member, the rotation of the first free rollers (14) being caused by engagement with second free rollers (15) that are retained by a second moveable member (11) and rotative actuation of the second moveable member (11). Electric motors serving as drive sources may be mounted on base members (4 and 5).

Abstract: A drive unit includes a main wheel having an annular member, and a plurality of driven rollers that are rotatably attached to the annular member, a plurality of first drive rollers and a plurality of second drive rollers, which are provided with the annular member between them and arranged such that they make contact with the outer peripheral faces of the driven rollers, a first holder and a second holder, which are arranged with the annular shaft between them and respectively hold the plurality of first drive rollers and the plurality of second drive rollers while allowing them to rotate, and a first drive unit and a second drive unit that rotationally drive the first holder and the second holder respectively; grooves are formed in the outer peripheral faces of the driven rollers at an angle to the circumferential direction thereof.

Abstract: In an inverted pendulum type vehicle having a lower frame (22) and an upper frame (21) detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit (3) is incorporated in the lower frame, and a battery unit (10) is received in the upper frame and configured to supply electric power to the drive unit via an electric unit (11) received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.

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: An electric vehicle includes a base; a front wheel that can be driven omnidirectionaly; a rear wheel that is mounted on the base so that a symmetry axis is parallel with a symmetry axis of the front wheel; a seat member that is mounted so that a straight line connecting a wheel center of the front wheel and a wheel center of the rear wheel specifies a fore-and-aft direction; an controller that detects an acceleration and deceleration command and a turning command; an inclination sensor that detects inclination of the base; and a control unit that controls acceleration and deceleration of the base based on the acceleration and deceleration command detected by the controller, that controls turning of the base based on the turning command detected by the controller, and that controls translational motion of the base based on inclination of the base detected by the inclination sensor.

Abstract: A recharging system for a rechargeable battery (281) of an inverted pendulum type vehicle (1) comprises a stand (86) for holding the vehicle in a substantially upright posture by using a supporting member (91, 96) that engages a prescribed part of the vehicle, a power feed device (95, 152) is provided on the stand, and a power take device (88, 151) provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.

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: In an encoder constituted from a detection part (a light-emitting part, rotating disk, and light-receiving part), which detects a signal corresponding to the state of a specimen, and calculates and stores the position information of the specimen from a signal outputted from this detection part, and a signal processing part for transmitting the stored position information to a host machine by way of serial communications, the signal processing part being constituted having: a two-way communication mode M1 for receiving command data from the host machine, and, when this command data is a two-way communication request command (commands A through C), transmitting the requested position information and the like to the host machine; a one-way communication mode M2 for transmitting the position information to the host machine by executing one-way transmission processing S105 when the command data is a one-way communication request command (command P); and a quasi one-way communication mode M3 for transmitting the po

Abstract: To provide a motor controlling device that reduces heat generated by an armature and switching elements when an alternating motor is activated. A motor controlling device includes: an H bridge circuit 20 that has FET1 to FET4 that connect and disconnect a high potential end HV and a low potential end GND of a direct-current power supply to and from an armature Lu; and an energization control unit for controlling the amount of energization of the armature Lu by the PWM control that involves changing the ratio, in a predetermined control cycle, between an energization control period, in which the FET1 and the FET2 are turned on and the FET3 and the FET4 are turned off, or the FET3 and the FET4 are turned on and the FET1 and the FET2 are turned off, and a non-energization control period, in which the FET1 and the FET3 are turned on and the FET2 and the FET4 are turned off, or the FET2 and the FET4 are turned on and the FET1 and the FET3 are turned off.

Abstract: In a frictional drive vehicle, a load acting on the vehicle such as the weight of a rider is converted into a force that urges two frictionally engaging parts (3L, 3R, 25) toward each other. Thereby, the contact pressure between the two frictionally engaging parts is maintained at an optimum level under all conditions. A weight of a rider may be transmitted to a drive member that frictionally engages a main wheel via a four-link parallel link mechanism (40, 50).

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).