{
  "$type": "site.standard.document",
  "description": "A mobile vehicle (1A) having a vehicle body (2), a front wheel (3f), a rear wheel (3r), wherein one of the wheels is a steered wheel which can be steered by a steering actuator (8) about a steering axis (Csf) which is tilted backward, and a control device (15) for controlling the steering actuator…",
  "path": "/patents/975158",
  "publishedAt": "2014-05-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B62D6/003",
    "HONDA MOTOR CO LTD [JP]"
  ],
  "textContent": "A mobile vehicle (1A) having a vehicle body (2), a front wheel (3f), a rear wheel (3r), wherein one of the wheels is a steered wheel which can be steered by a steering actuator (8) about a steering axis (Csf) which is tilted backward, and a control device (15) for controlling the steering actuator (8), on the basis of a dynamics model of the mobile vehicle (1A) configured by a mass point system having an inverted pendulum mass point and a ground surface mass point, so as to stabilize a motional state quantity of the inverted pendulum mass point and a motional state quantity of the steering angle of the steered wheel.",
  "title": "Two-wheeled vehicle"
}