Abstract: The rocking control device for a two front wheels rocking vehicle includes a controller that executes a first rocking control which assists a rocking of the two front wheels rocking vehicle and a second rocking control which assists the two front wheels rocking vehicle so that the two front wheels rocking vehicle self-stands at a rocking balanced position where a rocking moment of the vehicle body is canceled out in a lateral direction, wherein controller is configured to switch the first rocking control and the second rocking control to OFF state, and is configured to operate the first rocking control and the second rocking control in combination.

Abstract: A rocking control device for a two front wheels rocking vehicle includes a high rigidity self-standing controller that executes a high rigidity self-standing control that locks the rocking of the two front wheels rocking vehicle and that assists a self-standing of the two front wheels rocking vehicle, a switch that switches the high rigidity self-standing control to ON or OFF state, and an offset cancellation controller that executes an offset cancellation control that maintains the self-standing state of the two front wheels rocking vehicle until a predetermined traveling state when the high rigidity self-standing control is switched off.

Abstract: A joint mechanism 4 has a zigzag structure 13 extending in a zigzag pattern between a first member 11 and a second member 12. A flexible lengthy member 16 fixed to the first member 11 extends from the first member 11 toward the second member 12 and is travelable with respect to the second member 12. A tension application unit 30 that applies a tension to the flexible lengthy member 16 is configured to be capable of changing a tension to apply.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: An axle extends in an axial direction. A front wheel is rotatable around a wheel rotational axis. A front wheel supporting arm rotatably supports the axle. A front fork swingably supports the front wheel supporting arm such that the front wheel supporting arm is rotatable in a first direction about the wheel rotational axis. A rotary member is rotatable together with the axle around the wheel rotational axis. An axle rotation detector is supported on the axle opposite to the rotary member in the axial direction to be rotatable around the wheel rotational axis to detect a difference between rotational speeds of the axle rotation detector and the rotary member. A link mechanism is provided between the axle rotation detector and the front fork to turn the axle rotation detector in a second rotational direction opposite to the first rotational direction about the wheel rotational axis.

Abstract: A rocking control device for a two front wheels rocking vehicle includes a high rigidity self-standing controller that executes a high rigidity self-standing control that locks the rocking of the two front wheels rocking vehicle and that assists a self-standing of the two front wheels rocking vehicle, a switch that switches the high rigidity self-standing control to ON or OFF state, and an offset cancellation controller that executes an offset cancellation control that maintains the self-standing state of the two front wheels rocking vehicle until a predetermined traveling state when the high rigidity self-standing control is switched off.

Abstract: The rocking control device for a two front wheels rocking vehicle includes a controller that executes a first rocking control which assists a rocking of the two front wheels rocking vehicle and a second rocking control which assists the two front wheels rocking vehicle so that the two front wheels rocking vehicle self-stands at a rocking balanced position where a rocking moment of the vehicle body is canceled out in a lateral direction, wherein controller is configured to switch the first rocking control and the second rocking control to OFF state, and is configured to operate the first rocking control and the second rocking control in combination.

Abstract: An axle extends in an axial direction. A front wheel is rotatable around a wheel rotational axis. A front wheel supporting arm rotatably supports the axle. A front fork swingably supports the front wheel supporting arm such that the front wheel supporting arm is rotatable in a first direction about the wheel rotational axis. A rotary member is rotatable together with the axle around the wheel rotational axis. An axle rotation detector is supported on the axle opposite to the rotary member in the axial direction to be rotatable around the wheel rotational axis to detect a difference between rotational speeds of the axle rotation detector and the rotary member. A link mechanism is provided between the axle rotation detector and the front fork to turn the axle rotation detector in a second rotational direction opposite to the first rotational direction about the wheel rotational axis.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.

Abstract: A mobile vehicle 1 has two wheels 5, 5 on the rear side of a vehicle body 3, and is capable of causing a roll driving moment to act on the vehicle body 3 by an actuator 33 in a roll driving mechanism 23. A control device 70 controls the actuator 33 such that the function characteristics of the roll driving moment implemented by the control of the actuator 33 with respect to a vehicle body roll angle (inclination angle in the roll direction of the vehicle body 3) become as shown in FIG. 6A or 6B.

Abstract: A joint mechanism 4 has a zigzag structure 13 extending in a zigzag pattern between a first member 11 and a second member 12. A flexible lengthy member 16 fixed to the first member 11 extends from the first member 11 toward the second member 12 and is travelable with respect to the second member 12. A tension application unit 30 that applies a tension to the flexible lengthy member 16 is configured to be capable of changing a tension to apply.

Abstract: A mobile vehicle 1 has two wheels 5, 5 on the rear side of a vehicle body 3, and is capable of causing a roll driving moment to act on the vehicle body 3 by an actuator 33 in a roll driving mechanism 23. A control device 70 controls the actuator 33 such that the function characteristics of the roll driving moment implemented by the control of the actuator 33 with respect to a vehicle body roll angle (inclination angle in the roll direction of the vehicle body 3) become as shown in FIG. 6A or 6B.

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: 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 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: 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 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 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.