{
  "$type": "site.standard.document",
  "description": "Object To provide an inverted pendulum type vehicle that makes it possible to turn the vehicle easily even in a state in which no steering operation is performed. Solving Means A control device 21 of a vehicle 1 sets a target turning angular velocity Éz_cmd to a nonzero value not only when a…",
  "path": "/patents/981793",
  "publishedAt": "2013-11-20T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60B19/003",
    "HONDA MOTOR CO LTD [JP]"
  ],
  "textContent": "Object To provide an inverted pendulum type vehicle that makes it possible to turn the vehicle easily even in a state in which no steering operation is performed. Solving Means A control device 21 of a vehicle 1 sets a target turning angular velocity Éz_cmd to a nonzero value not only when a predetermined steering operation is performed but also at least in an external force application state in which an external force for turning the vehicle 1 about a yaw axis is applied to the vehicle 1, and controls a first actuator device 8 and a second actuator device such that a second moving operation part 4 has a different velocity from a first moving operation part 3 in a left-right direction.",
  "title": "Inverted pendulum type vehicle"
}