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: 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: A desired travelling velocity of a representative point of a vehicle 1 is set under such a condition that it does not exceed a velocity permissible range which is defined to have anisotropy according to a posture of an occupant seated on a seat 3. An operation of a travelling motion unit 5 is controlled by controlling an operation of an actuator 7 on the basis of the desired travelling velocity.

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: 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 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: According to an inverted pendulum type vehicle 1 of the present invention, an operation of an actuator 7 is controlled so as to restrict a representative point velocity which is a travelling velocity of a predefined representative point located above a ground contact point of the vehicle 1 and is determined according to a travelling velocity of a travelling motion unit 5 and a tilt of a base body 9.

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: An inverted pendulum type vehicle includes a loaded mode in which an object to be transported is loaded on a boarding unit, and a non-loaded state mode in which the object to be transported is not loaded thereon. When traveling velocities of a representative point of the vehicle in a steady-state, in which tilt errors ?be_x_s, ?be_y_s between actual tilt angles of a boarding unit and desired tilt angles thereof are maintained, constant are Vb_x_stb, Vb_y_stb, a traveling motion of a traveling motion unit is controlled such that at least a ratio of a magnitude of Vb_x_stb with respect to a magnitude of ?be_x_s becomes a smaller ratio in the non-loaded state mode than in the loaded state mode. Such inverted pendulum type vehicle is difficult to move in the non-loaded state mode, and is easy to move in the loaded mode.

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.

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: 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: 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 vehicle target velocity calculator of an omnidirectional moving body converts a manipulated vector which is a manipulated variable of the omnidirectional moving body instructed by an operator by using an operation portion of an operation device to a manipulated vector of the omnidirectional moving body in the relative coordinate system based on an angle difference between the presence direction of the omnidirectional moving body detected by the operation device sensor unit and the presence direction of the operation device detected by the vehicle sensor unit, and determines the target moving velocity vector according to the converted manipulated vector. The wheel velocity command calculator instructs a wheel drive unit to drive the base body according to this target moving velocity vector.

Abstract: The present invention provides a transparent conductive film excellent in pen sliding durability at the time of using the transparent conductive film for a touch panel and which enables to production a touch panel having excellent flatness. A transparent conductive film of the present invention comprises a transparent plastic film base and a transparent conductive thin film containing crystalline indium oxide as a main component laminated on at least one face of a transparent plastic film base, wherein an average circle-equivalent diameter of crystal grains of indium oxide of the transparent conductive thin film is 30 to 1000 nm, and a coefficient of variation of a circle-equivalent diameter of the crystal grains is 0.00 to 0.30. The transparent conductive film preferably contains indium oxide containing 0.5 to 8% by mass of tin oxide.

Abstract: A transparent conductive film roll which has a transparent conductive layer on at least one surface thereof and has an excellent distribution uniformity of surface resistance in longitudinal and lateral directions thereof wherein the distribution uniformity D of surface resistance defined by the following expression (1) is 0.2 or less when the surface resistance of the transparent conductive layer is measured at a total of 33 points within the film roll, and therefore, is suitable especially for a large panel, D=(Rmax?Rmin)/(Rmax+Rmin)??(1) where Rmax and Rmin represent the maximum and minimum values of 33 surface resistance measurement values.

Abstract: A transparent conductive film roll which has a transparent conductive layer on at least one surface thereof and has an excellent distribution uniformity of surface resistance in longitudinal and lateral directions thereof wherein the distribution uniformity D of surface resistance defined by the following expression (1) is 0.2 or less when the surface resistance of the transparent conductive layer is measured at a total of 33 points within the film roll, and therefore, is suitable especially for a large panel, D=(Rmax?Rmin)/(Rmax+Rmin)??(1) where Rmax and Rmin represent the maximum and minimum values of 33 surface resistance measurement values.

Abstract: A transparent conductive film roll which has a transparent conductive layer on at least one surface thereof and has an excellent distribution uniformity of surface resistance in longitudinal and lateral directions thereof wherein the distribution uniformity D of surface resistance defined by the following expression (1) is 0.2 or less when the surface resistance of the transparent conductive layer is measured at a total of 33 points within the film roll, and therefore, is suitable especially for a large panel, D=(Rmax?Rmin)/(Rmax+Rmin) ??(1) where Rmax and Rmin represent the maximum and minimum values of 33 surface resistance measurement values.

Abstract: A transfer system includes transfer lines (L) each of which forms a closed loop and has transfer-in stations (S1 and S3) and transfer-out stations (S2 and S4) for assembling parts to a work, while circulating the work along the transfer line (L); and a work and part transfer passage (51) for transferring the work and the parts. Transfer-in stations (S1 and S3) and the transfer-out stations (S2 and S4) are disposed at each of the longitudinal ends of each of the transfer lines (L). Sub-transfer-passages (521 and 522) branching out rightward and leftward from the work and part transfer passage (51), are disposed along longitudinal sides of the transfer lines (L). With this layout, a plurality of the transfer lines (L) can be disposed in a required minimum space, while securing a smooth supply and discharge of the works and parts with respect to the plurality of the transfer lines L.