Patent application number | Description | Published |
20110067937 | FRICTIONAL DRIVE DEVICE AND INVERTED PENDULUM TYPE VEHICLE USING THE SAME - A frictional drive device comprises a pair of drive disks ( | 03-24-2011 |
20110067938 | INVERTED PENDULUM TYPE VEHICLE - In an inverted pendulum type vehicle having a lower frame ( | 03-24-2011 |
20110070998 | DRIVE UNIT - 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. | 03-24-2011 |
20110071715 | ELECTRIC VEHICLE - 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. | 03-24-2011 |
20110071752 | INVERTED PENDULUM TYPE MOVING BODY - 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. | 03-24-2011 |
20140291044 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle enabled to easily execute a turning motion with a configuration of a low cost. An inverted pendulum type vehicle includes a second moving motion unit disposed with an interval from a first moving motion unit and configured to be capable of moving in all directions on a floor surface. A brake device is configured to be capable of generating a brake force imparted to the second moving motion unit. A control unit is provided for determining the presence/absence of a request for turning motion of the vehicle, and, when there is a request for the turning motion, to control the motion of the brake device so as to impart a braking force to the second moving motion unit. | 10-02-2014 |
20140297076 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle capable of improving consistency of the intention of an operator and the motion condition of the vehicle. When a low frequency component of an estimate value Vb_estm1_y of the translational speed in the Y-axis direction of a vehicle system center of gravity of the entirety deviates from a dead zone of a processing unit and movement of the waist of an operator is sudden enough to generate a high frequency component in Vb_estm1_y, a target turning angular velocity ωz_cmd_gc is set to a positive value or a negative value depending on the deviation amount, and a turning suppression factor Kωz is adjusted to 0. Therefore, motion of actuator devices of a vehicle is controlled so that turning of the vehicle is suppressed and the vehicle system center of gravity of the entirety is translated to +Y-axis direction. | 10-02-2014 |
20140297124 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle capable of dissipating the dissociation of vehicle steering intention of a user and a vehicle motion condition. When a base tilts toward a first designated direction, gravity center shift effect amount Vofs_x is corrected by a gravity center shift correction amount Vdep_x calculated according to the tilting amount. The gravity center shift correction amount Vdep_x with respect to a second designated direction is determined so as to increase as the tilting amount toward the first designated direction of the base. Further, the gravity center shift effect amount Vdep_x determined by tilting toward the first designated direction of the base is controlled to a threshold value or less. | 10-02-2014 |
20140297126 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle capable of making mounting and dismounting of an occupant smooth. A control device of an inverted pendulum type vehicle includes a control gain adjustment unit. The control gain adjustment unit changes the magnitude of the control gain used for motion control of an actuator device according to the tilting state of an occupant riding section in a situation where the stepping on of an occupant to the occupant riding section is executed or in a situation where the stepping off of the occupant from the occupant riding section is executed. | 10-02-2014 |
20140297127 | INVERTED PENDULUM TYPE VEHICLE - An inverted pendulum type vehicle for improving the steering performance and the comfort of the vehicle. A control device of an inverted pendulum type vehicle including a moving motion unit driven by an actuator device controls the actuator device so that the position of the center of gravity of the entirety of an occupant riding on an occupant riding section and the vehicle is shifted from the position of a balance state in the request direction of movement of the center of gravity of the occupant recognized from a predetermined kind of state of the vehicle. | 10-02-2014 |
Patent application number | Description | Published |
20090288900 | Inverted pendulum mobile vehicle - 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 ( | 11-26-2009 |
20100139996 | FRICTION DRIVE VEHICLE - 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 ( | 06-10-2010 |
20110209932 | OMNI-DIRECTIONAL VEHICLE - [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. | 09-01-2011 |
20110233989 | WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - 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. | 09-29-2011 |
20110260523 | FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - 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. | 10-27-2011 |
20120032496 | WHEEL, AND FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - [Task] To allow a wheel that provides a performance required for use in an omni-directional vehicle to be manufactured in an efficient manner. | 02-09-2012 |
20120061156 | FRICTION DRIVE DEVICE AND OMNI-DIRECTIONAL VEHICLE USING THE SAME - 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. | 03-15-2012 |
20120150408 | CONTROL DEVICE OF OMNIDIRECTIONAL VEHICLE - An omnidirectional vehicle capable of enhancing straight-line stability is provided. | 06-14-2012 |
20120150410 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 | 06-14-2012 |
20120158255 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 θbe_x_s and θbe_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 θbe_x_s and θbe_y_s are retained constant are defined as θb_x_stb and θb_y_stb, respectively, a traveling motion of the traveling motion unit is controlled so that a ratio of a magnitude of θb_x_stb with respect to a magnitude of θbe_x_s and a ratio of a magnitude of θb_y_stb with respect to θbe_y_s becomes a ratio different from each other. | 06-21-2012 |
20120166049 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 θb_x_obj, θb_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. | 06-28-2012 |
20120168235 | INVERTED PENDULUM TYPE VEHICLE - In an inverted pendulum type vehicle ( | 07-05-2012 |
20120173041 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 | 07-05-2012 |
20120173042 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 | 07-05-2012 |
20120173043 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 | 07-05-2012 |
20120173086 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 | 07-05-2012 |
20120173088 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - Provided is a controller for an inverted pendulum type vehicle capable of moving the vehicle smoothly. The inverted pendulum type vehicle | 07-05-2012 |
20120173106 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 | 07-05-2012 |
20120173107 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 | 07-05-2012 |
20120173114 | CONTROL DEVICE OF INVERTED PENDULUM TYPE MOBILE APPARATUS - 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 | 07-05-2012 |
20120179352 | CONTROL DEVICE OF INVERTED PENDULUM TYPE VEHICLE - 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 θb_xy_offset is satisfied (STEP | 07-12-2012 |
20140067177 | INVERTED PENDULUM TYPE VEHICLE, AND CONTROL METHOD OF INVERTED PENDULUM TYPE VEHICLE - A controller | 03-06-2014 |