{
  "$type": "site.standard.document",
  "description": "The present invention provides a falling prevention controlling device and a computer program that, with a simple configuration, can precisely correct the inclination in a pitch direction with respect to the balanced state while securing movement in the front-back direction, without the…",
  "path": "/patents/1012488",
  "publishedAt": "2011-06-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "A63H17/25",
    "MURATA MANUFACTURING CO [JP]"
  ],
  "textContent": "The present invention provides a falling prevention controlling device and a computer program that, with a simple configuration, can precisely correct the inclination in a pitch direction with respect to the balanced state while securing movement in the front-back direction, without the accumulating a noise and an offset, and prevent a falling in the pitch direction. The falling prevention controlling device has a wheel, and a main body which swings in a pitch direction and a roll direction above the wheel, and has: an advance/retreat command receiving unit 42 which receives an advance or a retreat command of the wheel; a target pitch angle calculating unit 44 which calculates a target pitch angle based on the received command and a rotation velocity deviation in the pitch direction derived from the detected rotation angle; a pitch inclined angle estimating unit 47 which estimates a pitch inclined angle with respect to a balanced state, from the detected pitch angular velocity and a pitch torque command generated based an the target pitch angle; and a pitch torque command generating unit 49 which generates the pitch torque command based an the target pitch angle and the pitch inclined angle.",
  "title": "FALL PREVENTION CONTROLLER AND COMPUTER PROGRAM"
}