Inverted pendulum type vehicle

An inverted pendulum type vehicle comprisig a vehicle body frame, a main wheel (52) including a plurality of rotatable driven rollers (64) arranged to form a ring, and a pair of left and right driving disks (58) supported for rotation on the vehicle body frame wherein each of the driving disks (58) includes a plurality of rotatable driving rollers (66) disposed for contact in a twisted relationship with the driven rollers (64), the vehicle further comprising a pair of left and right driven pulleys (60) provided on outer sides of the driving disks (58), and a pair of left and right driving units (90, 130) attached to the vehicle body frame above the main wheel (52) and including motors (92, 132) having output power shafts to which driving pulleys (100, 140) are attached wherein endless transmission members (122, 144) interconnect the driving pulleys (100, 140) and the driven pulleys (60) and the left and right driving units (90, 130) are disposed in an vertically offset relationship from each other.