Vehicle robot

Abstract

We provide a vehicle robot that can stand up automatically. [Solution] The vehicle robot R comprises a vehicle unit 10 having wheels 12, an angular velocity sensor, a flywheel 43, a motor 44, an auxiliary unit 20 that supports the vehicle unit 10 so that the inclination angle A2 of the vehicle unit 10 with respect to the gravity axis GA becomes a predetermined initial inclination angle A1, and a control device. The control device is capable of performing upright control and anti-tipping control. Upright control includes the steps of outputting a torque command value on the reverse rotation side compared to the torque command value in the initial state, and, when the angular velocity becomes greater than or equal to a predetermined positive threshold, bringing the torque command value closer to zero. After starting upright control, the control device terminates upright control and starts anti-tipping control when the angular velocity becomes zero or less.

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle robot and a program. [Background Art]

[0002] The vehicle robot disclosed in Patent Document 1 includes a humanoid casing, a two-wheeled vehicle, a motor, a flywheel, and a control device. The humanoid casing rides on the two-wheeled vehicle. The motor and the flywheel are housed inside the humanoid casing. The flywheel is coupled to a rotating shaft of the motor. The control device is capable of executing fall prevention control. When the fall prevention control is executed in a state where the vehicle robot is balanced, that is, in a state where the two-wheeled vehicle is standing on its own, the control device rotates the flywheel to maintain the self-standing state of the two-wheeled vehicle. [Prior Art Document] [Patent Document]

[0003] [Patent Document 1] Japanese Patent No. 4605227 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In the vehicle robot disclosed in Patent Document 1, in order to appropriately execute the fall prevention control, it is necessary for a user to support the vehicle robot with fingers or the like to bring the two-wheeled vehicle into a self-standing state prior to the start of the fall prevention control. However, it is inherently difficult per se to bring the two-wheeled vehicle into a self-standing state with fingers. If the fall prevention control is started in a state where the two-wheeled vehicle is tilted even slightly, the fall prevention control cannot exhibit its original function, and thus there is a risk that the vehicle robot may fall over. [Means for Solving the Problem]

[0005] To solve the above problems, this disclosure provides a vehicle unit having wheels, an angular velocity sensor for detecting the angular velocity of the vehicle unit with an axis of rotation along a specific first direction, a flywheel rotatable with respect to the axis of rotation along the first direction, a motor for rotating the flywheel, an auxiliary unit for supporting the vehicle unit so that the inclination angle of the vehicle unit with respect to the gravity axis becomes a predetermined initial inclination angle, and a control device for outputting a torque command value to the motor, wherein the control device is capable of performing standing control to raise the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, and anti-tipping control to calculate the torque command value so that the inclination angle approaches zero, and in the direction opposite to the initial inclination angle with respect to the gravity axis When the direction of the angular velocity when the vehicle rotates is defined as positive, and the direction of the angular velocity when the vehicle rotates in the direction toward the initial tilt angle with respect to the gravity axis is defined as negative, and among the rotation directions of the motor, the rotation direction that generates a reaction force on the flywheel in the direction toward the positive angular velocity is defined as the reverse rotation direction, the upright control includes the steps of outputting the torque command value in the reverse rotation direction compared to the torque command value in the initial state, and when the angular velocity becomes greater than or equal to a predetermined positive angular velocity threshold, the torque command value is brought closer to zero, and the control device is a vehicle robot that, after starting the upright control, terminates the upright control and starts the tipping prevention control when the angular velocity becomes zero or less.

[0006] Furthermore, this disclosure includes a vehicle unit having wheels, an angular velocity sensor for detecting the angular velocity of the vehicle unit with respect to a specific first direction as its axis of rotation, a flywheel rotatable with respect to the axis of rotation as its axis of rotation, a motor for rotating the flywheel, an auxiliary unit for supporting the vehicle unit so that the inclination angle of the vehicle unit with respect to the gravity axis becomes a predetermined initial inclination angle, and a control device for outputting a torque command value to the motor, wherein the control device is capable of performing standing control to raise the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, and anti-tipping control to calculate the torque command value so that the inclination angle approaches zero, wherein the direction of the angular velocity when the vehicle unit rotates in the direction opposite to the initial inclination angle with respect to the gravity axis is considered positive, and the direction of the angular velocity when the vehicle unit rotates in the direction opposite to the initial inclination angle with respect to the gravity axis is considered positive, and the direction of the initial inclination angle with respect to the gravity axis When the direction of the angular velocity when the vehicle rotates in a certain direction is set to negative, and the direction of rotation of the motor that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is set to the reverse rotation direction, the standing control includes the steps of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, and when the tilt angle is the angle between the gravity axis and the initial tilt angle, the step of bringing the torque command value closer to zero when the change angle, which is the difference between the tilt angle and the initial tilt angle, becomes greater than or equal to a predetermined change angle threshold, and the control device is a vehicle robot that, after starting the standing control, terminates the standing control and starts the fall prevention control when the absolute value of the time integral of the angular velocity from the initial state becomes greater than or equal to the initial tilt angle.

[0007] Furthermore, this disclosure applies to a vehicle robot comprising: a vehicle section having wheels; an angular velocity sensor for detecting the angular velocity of the vehicle section with an axis of rotation along a specific first direction; a flywheel rotatable with respect to the axis of rotation along the first direction; a motor for rotating the flywheel; an auxiliary section for supporting the vehicle section so that the inclination angle of the vehicle section with respect to the gravity axis becomes a predetermined initial inclination angle; and a control device for outputting a torque command value to the motor. The control device is instructed to perform: an upright control to raise the vehicle section from an initial state in which the vehicle section is supported by the auxiliary section; and an anti-tipping control to calculate the torque command value so that the inclination angle approaches zero, with respect to the gravity axis opposite to the initial inclination angle. When the direction of the angular velocity when the vehicle rotates in the direction toward the side is defined as positive, when the direction of the angular velocity when the vehicle rotates toward the initial tilt angle with respect to the gravity axis is defined as negative, and when the direction of rotation of the motor that generates a reaction force on the flywheel in the direction toward the positive angular velocity is defined as the reverse rotation direction, the upright control is a program that includes the steps of outputting the torque command value toward the reverse rotation direction compared to the torque command value in the initial state, and when the angular velocity becomes greater than or equal to a predetermined positive angular velocity threshold, the torque command value is brought closer to zero, and the anti-tipping control is a program that is started when the angular velocity becomes zero or less after the upright control has started.

[0008] Furthermore, this disclosure applies to a vehicle robot comprising: a vehicle section having wheels; an angular velocity sensor for detecting the angular velocity of the vehicle section with an axis of rotation along a specific first direction; a flywheel rotatable with respect to the axis of rotation along the first direction; a motor for rotating the flywheel; an auxiliary section for supporting the vehicle section so that the inclination angle of the vehicle section with respect to the gravity axis becomes a predetermined initial inclination angle; and a control device for outputting a torque command value to the motor. The control device is made to perform: an upright control to raise the vehicle section from an initial state in which the vehicle section is supported by the auxiliary section; and an anti-tipping control to calculate the torque command value so that the inclination angle approaches zero. The direction of the angular velocity when the vehicle section rotates in a direction opposite to the initial inclination angle with respect to the gravity axis is considered positive. When the direction of the angular velocity when the vehicle rotates in the direction of the initial tilt angle is set to negative, and the direction of rotation of the motor that generates a reaction force on the flywheel in the direction in which the angular velocity is set to positive is set to the reverse rotation direction, the upright control is a control that includes the steps of outputting the torque command value in the reverse rotation direction compared to the torque command value in the initial state, and when the tilt angle is the angle between the gravity axis and the initial tilt angle, the step of bringing the torque command value closer to zero when the change angle, which is the difference between the tilt angle and the initial tilt angle, becomes greater than or equal to a predetermined change angle threshold, and the anti-tipping control is a control that is started after the upright control has started, when the absolute value of the time integral of the angular velocity from the initial state becomes greater than or equal to the initial tilt angle.

[0009] According to the above configuration, the vehicle robot's control device performs anti-tipping control after the vehicle robot has been raised to a position where the tilt angle is approximately zero through upright control. As a result, the anti-tipping control can perform its intended function simply by placing the vehicle robot in its initial state, without the user having to support the vehicle robot with their hands or other means. [Effects of the Invention]

[0010] The vehicle robot can automatically stand up. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a perspective view of the vehicle robot. [Figure 2] Figure 2 is a side view of the vehicle robot. [Figure 3] Figure 3 is a front view of the vehicle robot. [Figure 4] Figure 4 is a flowchart of the standing control in the first embodiment. [Figure 5] Figure 5 is a flowchart of the standing control in the second embodiment. [Figure 6] Figure 6 is a flowchart of the standing control in the third embodiment. [Modes for carrying out the invention]

[0012] The following describes an embodiment of the vehicle robot with reference to the drawings. Note that the drawings may show components enlarged for ease of understanding. The dimensional ratios of the components may differ from those in the actual system or in other drawings.

[0013] <First Embodiment of a Vehicle Robot> The following describes a first embodiment of the vehicle robot. (Regarding the overall structure) As shown in Figures 1 and 2, the vehicle robot R in this embodiment comprises a vehicle unit 10 and a humanoid housing 30.

[0014] The vehicle unit 10 is a two-wheeled vehicle. More specifically, the shape of the vehicle unit 10 is that of a so-called ordinary bicycle. The vehicle unit 10 has a frame 11, a front fork 13, and two wheels 12. The frame 11 is constructed by connecting a plurality of rod-shaped members. As shown in Figure 2, the frame 11 has a truss structure when viewed from the side. The front fork 13 is connected to the front end of the frame 11. The front fork 13 is a Y-shaped rod. That is, the tip of the front fork 13 is split into two.

[0015] The two wheels 12 are a front wheel 12A and a rear wheel 12B. The front wheel 12A is rotatably supported by the bifurcated portion of a front fork 13. The rear wheel 12B is rotatably supported at the rear end of a frame 11.

[0016] Hereinafter, an axis parallel to the axis passing through the center point of the rear wheel 12B and the center point of the front wheel 12A is defined as a first axis X. An axis parallel to the rotation center axis of the rear wheel 12B is defined as a second axis Y. That is, the second axis Y is orthogonal to the first axis X. An axis orthogonal to both the first axis X and the second axis Y is defined as a third axis Z. In addition, among the directions along the first axis X, the direction from the rear wheel 12B toward the front wheel 12A is defined as a first positive direction X1, and the direction opposite to the first positive direction X1 among the directions along the first axis X is defined as a first negative direction X2. One of the directions along the second axis Y is defined as a second positive direction Y1, and the direction opposite to the second positive direction Y1 among the directions along the second axis Y is defined as a second negative direction Y2. Furthermore, one of the directions along the third axis Z is defined as a third positive direction Z1, and the direction opposite to the third positive direction Z1 among the directions along the third axis Z is defined as a third negative direction Z2.

[0017] As shown in Figure 2, the vehicle unit 10 includes a handlebar 14, two cranks 15, two pedals 16, and a saddle 17. The handlebar 14 is rod-shaped. The handlebar 14 extends along the rotation center axis of the front wheel 12A. The handlebar 14 is connected at a substantially midpoint in its longitudinal direction to the end of the front fork 13 on the opposite side from the front wheel 12A. That is, the handlebar 14 is connected to the end of the front fork 13 on the third positive direction Z1 side, while the front wheel 12A is connected to the end of the front fork 13 on the third negative direction Z2 side. The handlebar 14, together with the front fork 13 and the front wheel 12A, is rotatable about an axis along the third axis Z. That is, the handlebar 14 can steer the front wheel 12A. In detail, a handle driving motor is mounted inside the handlebar 14. The handle driving motor enables steering of the front wheel 12A by operating the handlebar 14.

[0018] Each crank 15 is connected to the frame 11 at a position between the front wheel 12A and the rear wheel 12B. One of the two cranks 15 is located on the second positive direction Y1 side relative to the frame 11. The other of the two cranks 15 is located on the second negative direction Y2 side relative to the frame 11. Each pedal 16 is rotatably supported at the distal end of the corresponding crank 15. Although not shown in the drawings, each crank 15 is drivingly connected to the rear wheel 12B via a sprocket, a chain and the like. Accordingly, each crank 15 and each pedal 16 rotate in synchronization with the rotation of the rear wheel 12B. A saddle 17 is connected to the frame 11. The saddle 17 protrudes toward the third positive direction Z1 side relative to the frame 11. Further, the saddle 17 has a flat surface facing the third positive direction Z1.

[0019] The vehicle robot R includes a rear wheel drive motor 46. The rear wheel drive motor 46 is connected to the frame 11 at a position between the rear wheel 12B and the saddle 17. The rear wheel drive motor 46 applies rotational torque to the rear wheel 12B. That is, the rear wheel drive motor 46 is a drive source for the rear wheel 12B.

[0020] As shown in FIG. 1, the vehicle robot R includes two support arms 18 and an auxiliary portion 20. Each support arm 18 has a columnar shape. Each support arm 18 extends toward the third negative direction Z2 side from the end of the frame 11 on the third negative direction Z2 side. The end of each support arm 18 on the third negative direction Z2 side is located on the third negative direction Z2 side relative to the rotation locus of each crank 15. Further, the end of each support arm 18 on the third negative direction Z2 side is located on the third positive direction Z1 side relative to the end of the front wheel 12A on the third negative direction Z2 side and the end of the rear wheel 12B on the third negative direction Z2 side. The support arms 18 are aligned in a direction along the second axis Y and are parallel to each other.

[0021] As shown in Figure 3, the auxiliary section 20 is connected to the end of each support arm 18 on the third negative direction Z2 side. Specifically, the auxiliary section 20 comprises a shaft section 21 and a first auxiliary wheel 23A and a second auxiliary wheel 23B. The shaft section 21 is rod-shaped. The material of the shaft section 21 is fiber-reinforced resin. More specifically, the material of the shaft section 21 contains carbon fiber as a reinforcing fiber. The shaft section 21 is connected to the end of the support arm 18 on the third negative direction Z2 side. Specifically, the shaft section 21 is inserted through a through hole (not shown) provided at the end of each support arm 18 on the third negative direction Z2 side. Therefore, the shaft section 21 extends along the second axis Y. Furthermore, the shaft section 21 extends from the vehicle section 10 towards the second positive direction Y1. In addition, the shaft section 21 also extends from the vehicle section 10 towards the second negative direction Y2.

[0022] The first auxiliary wheel 23A is connected to the end of the axle 21 on the second positive direction Y1 side. The second auxiliary wheel 23B is connected to the end of the axle 21 on the second negative direction Y2 side. As shown in Figure 2, the radius of each auxiliary wheel is shorter than the shortest distance from the axial center of the axle 21 to the tangent line on the third negative direction Z2 side of the tangent lines that touch both the front wheel 12A and the rear wheel 12B. In other words, when the axle 21 is approximately parallel to the floor surface, the auxiliary parts 20 do not come into contact with the floor surface.

[0023] As described above, the portion of the shaft 21 extending toward the second positive direction Y1 and the first auxiliary wheel 23A function as the first auxiliary part 22A extending toward the second positive direction Y1 from the vehicle part 10. In addition, the portion of the shaft 21 extending toward the second negative direction Y2 and the second auxiliary wheel 23B function as the second auxiliary part 22B extending toward the second negative direction Y2 from the vehicle part 10.

[0024] As shown in Figure 1, the humanoid housing 30 is a housing that mimics the shape of a human. The humanoid housing 30 has a body 31, a head 32, two arms 34, and two legs 33. The body 31 is a roughly rectangular box shape. The body 31 is mounted on the saddle 17 of the vehicle unit 10 such that the longitudinal direction of the body 31 is roughly aligned with the third axis Z. The head 32 is roughly spherical. The head 32 is connected to the surface of the body 31 on the third positive direction Z1 side. Each arm 34 is a rod shape that can bend at joints. One end of each arm 34 is connected to the body 31 near the corner on the head 32 side of the body 31. The other end of each arm 34 is mounted on both ends of the handle 14. Each leg 33 is a rod shape that can bend at joints. One end of each leg 33 is connected to the body 31 near the corner on the saddle 17 side of the body 31. The other end of each leg 33 rests on the corresponding pedal 16. Note that the boundary between the body 31 and the head 32, the two arms 34, and the two legs 33 may not have a clear boundary.

[0025] As shown in Figure 3, the vehicle robot R configured as described above can stand on its own when three points—the end of the front wheel 12A on the third negative Z2 side, the end of the rear wheel 12B on the third negative Z2 side, and the end of the first auxiliary wheel 23A on the third negative Z2 side—are in contact with the floor or the like. The vehicle robot R can also stand on its own when three points—the end of the front wheel 12A on the third negative Z2 side, the end of the rear wheel 12B on the third negative Z2 side, and the end of the second auxiliary wheel 23B on the third negative Z2 side—are in contact with the floor or the like. In the following, this self-supporting state will be referred to as the initial state of the vehicle robot R.

[0026] As shown in Figure 3, when the vehicle robot R is viewed from above, facing from the first positive direction X1 towards the first negative direction X2, the line connecting the vertex of the head 32 of the humanoid housing 30 on the third positive direction Z1 side and the point where the front wheel 12A of the vehicle unit 10 touches the floor or the like is defined as the central axis CA of the vehicle robot R. When the vehicle robot R is viewed from above, facing from the first positive direction X1, the center of gravity of the humanoid housing 30 and the center of gravity of the vehicle unit 10 are located on the central axis CA. However, this allows for manufacturing tolerances, and strictly speaking, the centers of gravity may be slightly off from the central axis CA.

[0027] In the following, the acute angle formed by the central axis CA with respect to the gravity axis GA, which is the axis aligned with the direction of gravity, is referred to as the inclination angle A2 of the vehicle robot R. The gravity axis GA refers to the central axis CA at which the torque acting clockwise and the torque acting counterclockwise on the vehicle robot R are equal, when the first axis X is the rotation axis of the vehicle robot R. In other words, the gravity axis GA may not necessarily coincide with the direction of gravity due to the influence of external disturbances such as crosswinds. The clockwise direction is the clockwise direction when viewed facing the first negative direction X2. The counterclockwise direction is the counterclockwise direction when viewed facing the first negative direction X2.

[0028] Furthermore, the inclination angle A2 of the vehicle robot R in its initial state is defined as the initial inclination angle A1. A base for adjusting the height may be installed between the auxiliary wheels supporting the vehicle unit 10 and the floor surface, etc. In this case, the initial inclination angle A1 is the inclination angle A2 when supported by the base and auxiliary wheels. In this embodiment, the initial inclination angle A1 is 2.7 degrees or less. More specifically, the initial inclination angle A1 is approximately 2.5 degrees. In other words, the length of the shaft 21, the outer diameters of the first auxiliary wheel 23A and the second auxiliary wheel 23B are determined such that the initial inclination angle A1 is approximately 2.5 degrees when the vehicle robot R is placed on a flat floor surface.

[0029] As shown in Figure 2, the vehicle robot R is equipped with an angle sensor 41, an angular velocity sensor 42, a flywheel 43, and a motor 44. The angle sensor 41 is installed on the frame 11 near the crank 15. The center of gravity of the angle sensor 41 is located on the central axis CA. The angle sensor 41 can output the tilt angle A2 of the vehicle robot R. The angle sensor 41 is, for example, a magnetic angle sensor.

[0030] The angular velocity sensor 42 is installed on the frame 11 near the saddle 17. The angular velocity sensor 42 detects the angular velocity of the vehicle unit 10 using an axis along a specific first direction as the axis of rotation. In this embodiment, the first direction of the angular velocity sensor 42 is the direction along the first axis X. Specifically, the angular velocity sensor 42 is a gyro sensor. In this embodiment, the unit of angular velocity is "rad / s".

[0031] The flywheel 43 is housed inside the body 31 of the humanoid housing 30. The flywheel 43 is rotatable around an axis aligned with the first axis X. Also, as shown in Figure 3, when the vehicle robot R is viewed from above from the first positive direction X1, the axis of rotation of the flywheel 43 is located on the central axis CA. When the flywheel 43 rotates, a reaction force is generated on the vehicle robot R in the opposite direction to the rotation of the flywheel 43 relative to the humanoid housing 30.

[0032] As shown in Figure 2, the motor 44 is housed inside the body 31 of the humanoid housing 30. In this embodiment, the rotation axis of the motor 44 is connected to the rotation axis of the flywheel 43. Therefore, the motor 44 can rotate the flywheel 43.

[0033] The vehicle robot R is equipped with a battery 45 and a control device 50. The battery 45 is housed inside the body 31 of the humanoid housing 30. The battery 45 is a rechargeable secondary battery. The battery 45 supplies power to the rear-wheel drive motor 46, angle sensor 41, angular velocity sensor 42, motor 44, control device 50, and other electronic devices mounted on the vehicle robot R. The battery 45 is, for example, a lithium-ion battery.

[0034] The control device 50 is housed inside the body 31 of the humanoid housing 30. The control device 50 can acquire the tilt angle A2 from the angle sensor 41. The control device 50 can acquire the angular velocity from the angular velocity sensor 42.

[0035] The control device 50 can control the rear-wheel drive motor 46 via wiring extending from the inside to the outside of the humanoid housing 30. By driving the rear-wheel drive motor 46, the control device 50 can drive the rear wheels 12B. Furthermore, the control device 50 can control the rotational speed of the rear-wheel drive motor 46. In other words, the control device 50 can control the steering angle of the front wheels 12A. Therefore, the control device 50 can control the forward and reverse movement, direction of movement, and speed of movement of the vehicle unit 10.

[0036] The control device 50 can control the motor 44. More specifically, the control device 50 can output a torque command value to the motor 44 via a driver, DA converter, counter, controller, etc. By driving the motor 44, the control device 50 can rotate the flywheel 43 at a predetermined rotational speed.

[0037] The control device 50 has a calculation unit that executes processing, a storage unit that stores data from various locations, and other peripheral circuits. The calculation unit of the control device 50 can execute a program for standing control that raises the vehicle unit 10 from the initial state in which the vehicle unit 10 is supported by the auxiliary unit 20, as will be described in detail later. The calculation unit of the control device 50 can also execute a program for anti-tipping control that calculates the torque command value so that the tilt angle A2 estimated based on the angular velocity and torque command value approaches zero. The program P for realizing these standing control and anti-tipping control is stored in the storage unit of the control device 50.

[0038] (Regarding fall prevention control) The following is an overview of the fall prevention control performed by the control device 50. As will be described in detail later, the control device 50 terminates the standing control and starts the tipping prevention control when the angular velocity becomes zero or less after starting the standing control. When the tipping prevention control is started, the control device 50 estimates the current tilt angle A2 of the vehicle robot R based on the angular velocity and the torque command value for the motor 44. At the same time, the control device 50 calculates the target tilt angle, which is the target value of the tilt angle A2, from the rotational speed of the motor 44. Next, the control device 50 calculates the target angular velocity required to make the tilt angle A2 of the vehicle robot R the target tilt angle by multiplying the difference between the target tilt angle and the estimated value of the current tilt angle A2 by a proportional gain. Furthermore, the control device 50 calculates the torque required to make the tilt angle A2 the target tilt angle by performing, for example, PI control on the difference between the target angular velocity and the current angular velocity. Then, the control device 50 calculates the torque command value for the motor 44 by compensating for this torque with external torques due to gravity and disturbances generated on the vehicle robot R calculated from the estimated value of the tilt angle A2 using feedforward control. For detailed examples of fall prevention control, please refer to Patent Document 1.

[0039] (Regarding standing control) The standing control performed by the control device 50 will be explained below with reference to Figure 4. In the following, the direction of angular velocity when the vehicle unit 10 rotates in the direction opposite to the initial tilt angle A1 with respect to the gravity axis GA is considered positive. Conversely, the direction of angular velocity when the vehicle unit 10 rotates in the direction toward the initial tilt angle A1 with respect to the gravity axis GA is considered negative. The rotation direction of the motor 44 that generates a reaction force on the flywheel 43 in the direction in which the angular velocity of the vehicle unit 10 is positive is considered the reverse rotation direction. The direction opposite to the reverse rotation direction is considered the positive rotation direction. In other words, the reverse rotation direction is the clockwise rotation direction when viewing the vehicle robot R facing the first negative direction X2. The positive rotation direction is the counterclockwise rotation direction when viewing the vehicle robot R facing the first negative direction X2. In Figure 4, the rotation in the positive rotation direction is indicated as a positive value, and the rotation in the reverse rotation direction is indicated as a negative value.

[0040] As shown in Figure 4, when the control device 50 starts the standing control, it executes the process in step S11. In step S11, the control device 50 determines whether the vehicle robot R is in an initial state. Specifically, first the control device 50 obtains the current tilt angle A2 from the angle sensor 41. Then, the control device 50 determines whether the tilt angle A2 matches a predetermined initial tilt angle A1. In the first embodiment, if the absolute value of the difference between the tilt angle A2 and the initial tilt angle A1 is 0.4 degrees or less, the tilt angle A2 is considered to match the initial tilt angle A1. If the tilt angle A2 does not match the initial tilt angle A1 (S11: NO), the control device 50 determines that the vehicle robot R is not in an initial state and terminates the standing control. If the tilt angle A2 matches the initial tilt angle A1 (S11: YES), the control device 50 executes the process in step S12.

[0041] In step S12, the control device 50 outputs a torque command value to the motor 44 that is greater than zero in the forward rotation direction. Specifically, the control device 50 outputs a torque command value to the motor 44 in the forward rotation direction, causing the flywheel 43 to rotate in the forward rotation direction at a constant rotational speed for a certain period of time. In this embodiment, in step S12, the control device 50 outputs a torque command value to rotate the flywheel 43 at approximately 1000 rpm for 1 second. After that, the control device 50 executes the process in step S13.

[0042] In step S13, the control device 50 outputs a torque command value to the motor 44 in the reverse direction, compared to the torque command value in the initial state of step S12. That is, the control device 50 rotates the flywheel 43 in the reverse direction by outputting a torque command value in the reverse direction to the motor 44. In this embodiment, the control device 50 outputs a torque command value required to rotate the flywheel 43 in the reverse direction at approximately 3000 rpm for 1 second. Therefore, as a result of step S13 being executed, the rotational speed of the flywheel 43 changes by approximately 4000 rpm in the reverse direction compared to when step S12 was being executed. After that, the control device 50 executes the process of step S14.

[0043] In step S14, the control device 50 determines whether the angular velocity of the vehicle robot R is greater than or equal to a predetermined positive angular velocity threshold. Specifically, the control device 50 obtains the angular velocity value from the angular velocity sensor 42. The control device 50 then determines whether the angular velocity value is greater than or equal to 0.09 rad / s, which is set as the positive angular velocity threshold. The method for setting this angular velocity threshold will be described later. If the angular velocity is greater than the angular velocity threshold (S14: NO), the control device 50 executes the process in step S14 again. That is, the control device 50 repeatedly executes the process in step S14 until the angular velocity is greater than or equal to the positive angular velocity threshold. If the angular velocity is greater than or equal to the positive angular velocity threshold (S14: YES), the control device 50 executes the process in step S15.

[0044] In step S15, the control device 50 brings the torque command value for the motor 44 closer to zero. In this embodiment, in step S15, the control device 50 sets the torque command value to zero. Next, the control device 50 executes the process in step S16.

[0045] In step S16, the control device 50 determines whether the angular velocity value obtained from the angular velocity sensor 42 is zero or less. If the angular velocity is not zero or less (S16: NO), the control device 50 executes the process in step S16 again. That is, the control device 50 repeatedly executes the process in step S16 until the angular velocity becomes zero or less. Then, if the angular velocity becomes zero or less (S16: YES), the control device 50 terminates the standing control and executes the process in step S17. In step S17, the control device 50 starts the tipping prevention control described above. Note that "zero or less" may be defined as a value that allows for some error. For example, even if the angular velocity is less than 0.01, it may be treated as zero or less and the above process may be executed.

[0046] (Regarding the setting of angular velocity thresholds) The angular velocity threshold used in step S14 of the standing control can be determined by conducting tests as follows.

[0047] When steps S12 and S13 of the standing control process are executed, the angular velocity of the vehicle robot R becomes positive due to the reaction force against the rotation of the flywheel 43. Also, the flywheel 43 is rotating during step S13. Therefore, the angular velocity of the vehicle robot R continues to increase due to the reaction force from the deceleration torque. Then, after step S14, when the torque command value is set to zero in step S15, the flywheel 43 stops rotating, so the reaction force from the deceleration torque decreases and the gravity torque increases, causing the angular velocity of the vehicle robot R to gradually approach zero. Here, if the angular velocity threshold is too large, the reaction force from the deceleration torque continues to increase, causing the vehicle robot R to tilt in the opposite direction to the initial tilt angle A1 with respect to the gravity axis GA. That is, the tilt angle A2 of the vehicle robot R becomes large enough to pass the gravity axis GA and move towards the second negative direction Y2. On the other hand, if the angular velocity threshold is too small, i.e., too close to zero, the reaction force from the deceleration torque will not be obtained before the tilt angle A2 of the vehicle robot R reaches zero. Therefore, the vehicle robot R tilts back to its initial state due to the gravitational torque. Taking this into consideration, the process of steps S12 to S15 is repeated while gradually changing the angular velocity threshold, so that a suitable angular velocity threshold is set so that the tilt angle A2 of the vehicle robot R at step S16 is zero, or slightly closer to the initial tilt angle A1 with respect to the gravity axis GA.

[0048] (Regarding the operation of the first embodiment) In step S13 of the standing control, the control device 50 outputs a torque command value to the motor 44 in the reverse rotation direction compared to the torque command value in the initial state. That is, the control device 50 outputs a torque that causes the motor 44 to rotate rapidly in the reverse direction. As a result, a reaction torque is generated on the flywheel 43 in the direction that makes the angular velocity of the vehicle robot R positive. Due to this reaction torque, the vehicle robot R begins to tilt counterclockwise. In addition, in the initial state, gravity generates a gravitational torque that causes the vehicle robot R to rotate clockwise. Subsequently, as the rotation of the vehicle robot R progresses due to the reaction force generated in step S13, the weight torque acting on the vehicle robot R decreases, and the vehicle robot R accelerates in the counterclockwise direction. Therefore, in step S14, when the angular velocity of the vehicle robot R exceeds the positive angular velocity threshold, the control device 50 reduces the torque output to the motor 44 to zero in step S15. As a result, the angular velocity of the vehicle robot R approaches zero. Then, at the position where the inclination angle A2 is approximately zero, the angular velocity becomes zero. Therefore, in step S16, the control device 50 starts the tipping prevention control at the position where the angular velocity becomes zero.

[0049] (Regarding the effects of the first embodiment) (1-1) According to the first embodiment described above, the control device 50 of the vehicle robot R stands upright to a position where the tilt angle A2 is approximately zero by the standing control, and then performs the tipping prevention control. As a result, the tipping prevention control can be performed as intended simply by placing the vehicle robot R in its initial state, without the user having to adjust the tilt angle A2 while supporting the vehicle robot R with their fingers or the like.

[0050] (1-2) According to the first embodiment described above, the control device 50 of the vehicle robot R sets the torque command value to zero when the angular velocity exceeds a positive angular velocity threshold. The control device 50 then executes anti-tipping control when the angular velocity becomes zero or less. In other words, it is estimated that the angular velocity is zero when the inclination angle A2 is approximately zero. As a result, even if there are some irregularities on the floor surface and the assumed value of the initial inclination angle A1 differs from the actual initial inclination angle A1, anti-tipping control can be executed at the appropriate timing. Therefore, for example, the allowable angle of the initial inclination angle A1 can be made larger compared to the case where the value of the inclination angle A2 obtained from the angle sensor 41 is used as a condition.

[0051] (1-3) According to the first embodiment described above, the control device 50 outputs a torque that rotates the flywheel 43 in the forward direction before outputting a torque that rotates the flywheel 43 in the reverse direction. Even if the rotational speed of the motor 44 of the vehicle robot R in the reverse direction is small and not enough reaction force is obtained to raise the vehicle robot R by itself, by rotating it in the forward direction in advance as described above, a sufficient reaction force is obtained for the angular velocity of the vehicle unit 10 to be positive. In other words, it is easy to rotate the vehicle robot R counterclockwise.

[0052] (1-4) According to the first embodiment described above, the initial tilt angle A1 is 2.7 degrees or less. With an initial tilt angle A1 of this magnitude, it is possible to raise the flywheel 43 from a tilted state at the initial tilt angle A1 to a state where the tilt angle A2 is zero, without employing a motor 44 that rotates the flywheel 43 at an excessively high rotational speed.

[0053] (1-5) According to the first embodiment described above, the auxiliary parts 20 are located on both sides of the vehicle part 10. Therefore, standing control can be performed regardless of whether the vehicle is tilted in the second positive direction Y1 or the second negative direction Y2. Furthermore, even if the control device 50 fails to properly perform the anti-tipping control due to disturbances or other factors when it performs standing control, the vehicle part 10 will return to a state where it leans on either of the two auxiliary parts 20, making it unlikely that the humanoid housing 30 will tip over and collide with the floor.

[0054] <Second embodiment of a vehicle robot> The second embodiment of the vehicle robot will be described below. Note that the second embodiment differs from the first embodiment only in its standing control; therefore, explanations other than the standing control will be omitted.

[0055] (Regarding the standing control in the second embodiment) The standing control performed by the control device 50 will be described below with reference to Figure 5. The definitions of the reverse rotation direction and the forward rotation direction are the same as in the standing control of the first embodiment.

[0056] When the control device 50 starts the upright control, it executes the process in step S21. In step S21, the control device 50 determines whether the vehicle robot R is in an initial state. Specifically, first the control device 50 obtains the current tilt angle A2 from the angle sensor 41. Then, the control device 50 determines whether the tilt angle A2 matches a predetermined initial tilt angle A1. In the second embodiment, if the absolute value of the difference between the tilt angle A2 and the initial tilt angle A1 is 0.1 degrees or less, the tilt angle A2 is considered to match the initial tilt angle A1. If the tilt angle A2 does not match the initial tilt angle A1 (S21: NO), the control device 50 determines that the vehicle robot R is not in an initial state and terminates the upright control. If the tilt angle A2 matches the initial tilt angle A1 (S21: YES), the control device 50 executes the process in step S22.

[0057] In step S22, the control device 50 outputs a torque command value to the motor 44 that is greater than zero in the forward rotation direction. Specifically, the control device 50 outputs a torque command value to the motor 44 in the forward rotation direction, causing the flywheel 43 to rotate at a constant rotational speed in the forward rotation direction for a certain period of time. In this embodiment, in step S22, the control device 50 outputs a torque command value to rotate the flywheel 43 at approximately 1000 rpm for 1 second. After that, the control device 50 executes the process in step S23.

[0058] In step S23, the control device 50 outputs a torque command value to the motor 44 in the reverse direction, compared to the torque command value in the initial state of step S22. That is, the control device 50 rotates the flywheel 43 in the reverse direction by outputting a torque command value in the reverse direction to the motor 44. In this embodiment, the control device 50 outputs a torque command value required to rotate the flywheel 43 in the reverse direction at approximately 3000 rpm for 1 second. Therefore, as a result of step S23 being executed, the rotational speed of the flywheel 43 changes by approximately 4000 rpm in the reverse direction compared to when step S22 was being executed. After that, the control device 50 executes the process of step S24.

[0059] In step S24, assuming that the inclination angle A2 is the angle between the gravity axis GA and the initial inclination angle A1, it is determined whether the change angle, which is the difference between the inclination angle A2 and the initial inclination angle A1, is greater than or equal to a change angle threshold defined in the range of zero or greater and less than or equal to the initial inclination angle A1. This change angle threshold is, for example, 0.9 degrees. More specifically, in step S24, the control device 50 obtains the angular velocity from the angular velocity sensor 42. Then, the control device 50 calculates the absolute value of the time integral of the angular velocity from the initial state as the change angle. Next, the control device 50 determines whether the change angle is greater than or equal to the change angle threshold of 0.9 degrees. In step S24, if the change angle is less than the change angle threshold (S24:NO), the control device 50 executes the process in step S24 again. That is, the control device 50 repeatedly executes the process in step S24 until the change angle becomes greater than or equal to the change angle threshold. On the other hand, in step S24, if the change angle is greater than or equal to the change angle threshold (S24:YES), the control device 50 executes the process in step S25.

[0060] In step S25, the control device 50 brings the torque command value for the motor 44 closer to zero. In this embodiment, in step S25, the control device 50 sets the torque command value to zero. Next, the control device 50 executes the process in step S26.

[0061] In step S26, the control device 50 determines whether the angle of change is greater than or equal to the initial tilt angle A1. Specifically, the control device 50 uses the absolute value of the time integral of the angular velocity from the initial state as the angle of change, and determines whether this is greater than or equal to the initial tilt angle A1. If the angle of change is less than the initial tilt angle A1 (S26: NO), the control device 50 executes the process in step S26 again. That is, the control device 50 repeatedly executes the process in step S26 until the angle of change becomes greater than or equal to the initial tilt angle A1. On the other hand, if the angle of change becomes greater than or equal to the initial tilt angle A1 (S26: YES), the control device 50 terminates the standing control and executes the process in step S27. In step S27, the control device 50 starts the tipping prevention control described in the first embodiment. Note that "angle of change is greater than or equal to the initial tilt angle A1" may be defined as a value that allows for some error. For example, if the absolute value of the difference between the angle of change and the initial inclination angle A1 is 0.01 or less, the angle of change and the initial inclination angle A1 may be considered equal. In this case, the condition "the angle of change is greater than or equal to the initial inclination angle A1" is met, so the process in step S26 is terminated and the process in step S27 is executed.

[0062] (Regarding the operation of the second embodiment) In step S23 of the standing control, the control device 50 outputs a torque command value to the motor 44 in the reverse rotation direction compared to the torque command value in the initial state. That is, the control device 50 outputs a torque that causes the motor 44 to rotate rapidly in the reverse direction. As a result, a reaction torque is generated on the flywheel 43 in the direction that makes the angular velocity of the vehicle robot R positive. Due to this reaction torque, the vehicle robot R begins to rotate counterclockwise. In addition, in the initial state, the vehicle robot R experiences a gravitational torque in the direction of rotation that causes it to rotate clockwise. Subsequently, as the rotation of the vehicle robot R progresses due to the reaction force generated in step S23, the weight torque acting on the vehicle robot R decreases, and the vehicle robot R accelerates in the counterclockwise direction. Therefore, in step S24, when the change angle of the vehicle robot R exceeds the change angle threshold, the control device 50 reduces the torque output to the motor 44 to zero in step S25. As a result, the angular velocity of the vehicle robot R decreases. Then, in step S26, the control device 50 determines whether the vehicle robot R has moved from its initial state by an initial tilt angle A1. In this state, the angular velocity of the vehicle robot R is close to zero. When this angle of change becomes greater than or equal to the initial tilt angle A1, in step S27, the control device 50 starts the rollover prevention control.

[0063] (Regarding the effects of the second embodiment) According to the second embodiment, in addition to the effects of (1-1), (1-3) to (1-5) of the first embodiment, the following effects are achieved.

[0064] (2-1) According to the second embodiment described above, the control device 50 of the vehicle robot R executes rollover prevention control when the change angle becomes greater than or equal to the initial tilt angle A1. At this time, the control device 50 calculates the absolute value of the value obtained by integrating the velocity over time from the initial state as the change angle. Therefore, the above control can be executed when the tilt angle A2 is zero. At the time the rollover prevention control is started, the angular velocity of the vehicle robot R is close to zero. Therefore, once the rollover prevention control is started, there is a high possibility that the tilt angle A2 of the vehicle robot R will be maintained at approximately zero during the rollover prevention control.

[0065] <Third embodiment of a vehicle robot> The third embodiment of the vehicle robot will be described below. Note that the third embodiment differs from the first embodiment only in its standing control; therefore, explanations other than the standing control will be omitted.

[0066] (Regarding the standing control in the third embodiment) The standing control performed by the control device 50 will be described below with reference to Figure 6. The definitions of the reverse rotation direction and the forward rotation direction are the same as in the standing control of the first embodiment.

[0067] When the control device 50 starts the upright control, it executes the process in step S31. In step S31, the control device 50 determines whether the vehicle robot R is in an initial state. Specifically, first, the control device 50 obtains the current tilt angle A2 from the angle sensor 41. Then, the control device 50 determines whether the tilt angle A2 matches a predetermined initial tilt angle A1. In the third embodiment, if the absolute value of the difference between the tilt angle A2 and the initial tilt angle A1 is 0.6 degrees or less, the tilt angle A2 is considered to match the initial tilt angle A1. If the tilt angle A2 does not match the initial tilt angle A1 (S31: NO), the control device 50 determines that the vehicle robot R is not in an initial state and terminates the upright control. If the tilt angle A2 matches the initial tilt angle A1 (S31: YES), the control device 50 executes the process in step S32.

[0068] In step S32, the control device 50 outputs a torque command value to the motor 44 that is greater than zero in the forward rotation direction. Specifically, the control device 50 outputs a torque command value to the motor 44 in the forward rotation direction, causing the flywheel 43 to rotate at a constant rotational speed in the forward rotation direction for a certain period of time. In this embodiment, in step S32, the control device 50 outputs a torque command value to rotate the flywheel 43 at approximately 1000 rpm for 1 second. After that, the control device 50 executes the process in step S33.

[0069] In step S33, the control device 50 outputs a torque command value in the reverse rotation direction to the motor 44, compared to the torque command value in the initial state of step S32. That is, the control device 50 rotates the flywheel 43 in the reverse direction by outputting a torque command value in the reverse rotation direction to the motor 44. In this embodiment, the control device 50 outputs a torque command value necessary to rotate the flywheel 43 in the reverse direction at approximately 3000 rpm for 1 second. Therefore, as a result of step S33 being executed, the rotation speed of the flywheel 43 changes by approximately 4000 rpm in the reverse direction compared to when step S32 was being executed. After that, the control device 50 executes the process of step S34.

[0070] In step S34, the control device 50 determines whether the angular velocity of the vehicle robot R is greater than or equal to a predetermined positive angular velocity threshold. Specifically, the control device 50 obtains the angular velocity value from the angular velocity sensor 42. The control device 50 then determines whether the angular velocity value is greater than or equal to 0.09 rad / s, which is set as the positive angular velocity threshold. If the angular velocity is less than the angular velocity threshold (S34: NO), the control device 50 executes the process in step S34 again. That is, the control device 50 repeatedly executes the process in step S34 until the angular velocity is greater than or equal to the positive angular velocity threshold. If the angular velocity is greater than or equal to the positive angular velocity threshold (S34: YES), the control device 50 executes the process in step S35.

[0071] In step S35, the control device 50 controls the torque command value for the motor 44 so as to bring the angular velocity of the vehicle robot R closer to zero. In this embodiment, in step S35, the control device 50 sets the target angular velocity to 0 rad / s. Furthermore, the control device 50 calculates the required torque by performing, for example, P control and PI control on the deviation between the target angular velocity (0 rad / s) and the current angular velocity obtained from the angular velocity sensor 42. Then, the control device 50 compensates for this torque with the gravity torque generated on the vehicle robot R, which is calculated from the estimated tilt angle A2, by feedforward control (i.e., superimposing it), and outputs it as a torque command value for the motor 44. In other words, the control device 50 outputs a torque command that simultaneously compensates for the torque that suppresses the angular velocity and the torque that compensates for the torque caused by gravity.

[0072] The gravitational torque can be calculated as follows. That is, using the straight line connecting the contact points of the front wheel 12A and the rear wheel 12B as the axis, and letting L [m] be the distance from this axis to the center of gravity of the vehicle robot R, and let M [kg] be the mass of the vehicle robot R, and let θ [rad] be the inclination angle A2, it can be calculated as M·g0·L·sinθ (where g0 is the standard gravitational acceleration). Note that if θ is sufficiently small, it may be calculated as M·g·L·θ. Next, the control device 50 executes the process of step S36.

[0073] In step S36, the control device 50 determines whether the angular velocity value obtained from the angular velocity sensor 42 is zero or less. If the angular velocity is not zero or less (S16: NO), the control device 50 executes the process in step S35 again. That is, the control device 50 repeatedly executes the process in step S35 until the angular velocity becomes zero or less. In other words, the torque command value is sequentially changed by repeatedly executing the process in step S35. When the angular velocity becomes zero or less (S36: YES), the control device 50 terminates the upright control and executes the process in step S37. In step S37, the control device 50 starts the tipping prevention control described above. Note that "zero or less" may be defined as a value that allows for some error. For example, even if the absolute value of the angular velocity is less than 0.01, it may be considered zero or less and the above process may be executed.

[0074] (Regarding the operation of the third embodiment) In step S33 of the standing control, the control device 50 outputs a torque command value to the motor 44 in the reverse rotation direction compared to the torque command value in the initial state. That is, the control device 50 outputs a torque that causes the motor 44 to rotate rapidly in the reverse direction. As a result, a reaction torque is generated on the flywheel 43 in the direction that makes the angular velocity of the vehicle robot R positive. Due to this reaction torque, the vehicle robot R begins to tilt counterclockwise. In addition, in the initial state, gravity generates a gravitational torque on the vehicle robot R that causes it to rotate clockwise. Subsequently, as the rotation of the vehicle robot R progresses due to the reaction force generated in step S33, the gravitational torque acting on the vehicle robot R decreases, and the vehicle robot R accelerates in the counterclockwise direction. Therefore, in step S34, when the angular velocity of the vehicle robot R exceeds a positive angular velocity threshold, the control device 50 controls the torque output to the motor 44 in step S35 to bring the angular velocity of the vehicle robot R closer to zero. As a result, the angular velocity of the vehicle robot R approaches zero. Then, at the position where the inclination angle A2 is approximately zero, the angular velocity becomes zero. Therefore, the control device 50 terminates step S36 and starts the tipping prevention control at the position where the angular velocity is zero.

[0075] (Regarding the effects of the third embodiment) According to the third embodiment, in addition to the effects of (1-1), (1-3) to (1-5) of the first embodiment, the following effects are achieved.

[0076] (3-1) According to the third embodiment described above, the control device 50 of the vehicle robot R controls the torque output to the motor 44 so as to bring the angular velocity of the vehicle robot R closer to zero. Therefore, during the process of standing control, torque control can be precisely performed when the vehicle robot R is close to upright (i.e., when the inclination angle is near zero). In other words, even when the vehicle robot R is moving at an angular velocity that cannot be ignored in a state close to upright due to external factors such as wind or unevenness of the ground surface, standing control can be performed. Therefore, once the anti-tipping control is started, there is a high possibility that the inclination angle A2 of the vehicle robot R will be maintained at approximately zero during the anti-tipping control.

[0077] (3-2) According to the third embodiment described above, a torque command value is output that simultaneously compensates for the torque that suppresses the angular velocity of the vehicle robot R and the torque that compensates for the torque caused by gravity. Therefore, the angular velocity can be set to zero at a position where the tilt angle A2 is approximately zero. Consequently, once the rollover prevention control is started, there is a high probability that the tilt angle A2 of the vehicle robot R will be maintained at approximately zero during the rollover prevention control.

[0078] (3-3) According to the third embodiment described above, the combined effects of (3-1) and (3-2) above enable appropriate upright control even when the tilt angle A2 at the start of upright control deviates significantly from a predetermined initial tilt angle A1 in either the positive or negative direction. In other words, the allowable range of the tilt angle A2 at the start of upright control can be widened.

[0079] <Example of changes> The above embodiments and the following modifications can be combined and implemented to the extent that they do not conflict with each other technically.

[0080] (Examples of changes to the overall structure) The shape of the vehicle unit 10 is not limited to the examples of the above embodiment. For example, the vehicle unit 10 may have only one wheel 12. That is, the vehicle unit 10 may be a so-called unicycle. In this case, the rotation axes of the flywheel 43 and the angular velocity sensor 42 may extend along the rotational axis of the wheel 12, or they may extend in the radial direction of the wheel 12. Furthermore, these rotation axes may extend in any direction. That is, the "specific first direction" is not limited to the case where it is along the first axis X. Also, the vehicle robot R may be equipped with multiple motors 44 and multiple flywheels 43, etc.

[0081] Furthermore, the two wheels 12 of the vehicle unit 10 may be aligned in a direction along the rotation axis of each wheel 12. In this case, it is preferable that the rotation axes of the flywheel 43 and the angular velocity sensor 42 extend along the rotation axis direction of the wheel 12.

[0082] The components of the vehicle unit 10 are not limited to the examples of the above embodiment. For example, the front wheels 12A do not have to be steering wheels. In this case, the vehicle unit 10 may be able to move forward and backward only in the direction of the first axle X, and the rear wheels 12B may be steerable.

[0083] Furthermore, the vehicle unit 10 does not necessarily have to have a handlebar 14, crank 15, pedals 16, saddle 17, etc. If there is no handlebar 14, for example, the control device 50 can be configured to steer the front wheel 12A without going through the arms 34 and handlebar 14 of the humanoid housing 30.

[0084] The vehicle robot R does not necessarily have to be equipped with a rear-wheel drive motor 46. The legs 33 of the humanoid housing 30 may pedal 16 to drive the rear wheels 12B of the vehicle unit 10. The configuration of the rear-wheel drive motor 46 is not limited to the example of the above embodiment. For example, the axle of the motor 44 may be connected to the axle of the rear wheel 12B.

[0085] The configuration of the auxiliary unit 20 is not limited to the example of the embodiment described above. The vehicle robot R may be provided with either the first auxiliary unit 22A or the second auxiliary unit 22B. Furthermore, the auxiliary unit 20 does not need to be permanently connected to the vehicle unit 10. For example, the auxiliary unit 20 may be detachably connected to the vehicle unit 10 by means of a magnet or the like.

[0086] The auxiliary part 20 does not need to be attached to the vehicle part 10. For example, the legs 33 of the humanoid housing 30 may support the vehicle part 10 as the auxiliary part 20. Also, the auxiliary part 20 does not need to have auxiliary wheels. For example, it may consist of a support arm 18 and a rod inserted and fixed through a through hole in the support arm 18. Furthermore, the shaft portion 21 of the auxiliary part 20 may be extendable and retractable. If the shaft portion 21 is extendable and retractable, the auxiliary part 20 is less likely to obstruct the movement of the vehicle part 10, for example, when the vehicle part 10 is traveling on a curve.

[0087] The material of the auxiliary part 20 is not limited to the examples of the above embodiment. For example, the material of the auxiliary part 20 may be stainless steel, synthetic resin, aluminum, etc. The first auxiliary wheel 23A may be rotatably supported at the end of the shaft portion 21 on the second positive direction Y1 side. The second auxiliary wheel 23B may be rotatably supported at the end of the shaft portion 21 on the second negative direction Y2 side. This allows the rotation of each auxiliary wheel to reduce the resistance caused by the auxiliary portion 20 contacting the floor surface, even if the tilt angle A2 of the vehicle robot R increases while the vehicle robot R is running. Therefore, it is easier to prevent the vehicle robot R from tipping over and the auxiliary portion 20 from wearing down.

[0088] The vehicle robot R does not necessarily have to have a humanoid housing 30. In this case, for example, the flywheel 43, motor, control device 50, etc., may be housed inside the vehicle unit 10.

[0089] The configuration and shape of the humanoid housing 30 are not limited to the examples of the above embodiment. It does not have to mimic the shape of a human, and may be any shape. The initial tilt angle A1 does not have to be 2.7 degrees or less. Even if the initial tilt angle A1 is greater than 2.7 degrees, it is sufficient if the torque command value can be adjusted appropriately to enable upright control. Note that the initial tilt angle A1 at which upright control can be properly executed varies depending on the weight and shape of the vehicle robot R, the performance of the motor 44, the upright control algorithm, etc.

[0090] The angle sensor 41 and angular velocity sensor 42 do not necessarily have to be mounted on the vehicle unit 10. Furthermore, the position and shape in which the angle sensor 41 and angular velocity sensor 42 are mounted are not limited to the examples of the above embodiment. Also, the specific detection methods and types of the angle sensor 41 and angular velocity sensor 42 are not limited to the examples of the above embodiment.

[0091] The flywheel 43, motor 44, battery 45, and control device 50 do not necessarily have to be housed inside the humanoid housing 30. Also, the positions of the flywheel 43 and motor 44 are not limited to the examples of the above embodiment.

[0092] The vehicle robot R does not necessarily need to be equipped with an angle sensor 41. For example, if the flatness of the floor is known in advance, the initial inclination angle A1 can be predetermined. The vehicle robot R does not necessarily have to have a battery 45. It may be configured to be powered by an external power source via a cable.

[0093] The configuration and functions of the control device 50 are not limited to the examples of the above embodiment. The control device 50 only needs to be capable of outputting torque command values ​​to the motor and performing upright control and tipping prevention control.

[0094] The control device 50 does not have to perform the process in step S11 during the standing control. For example, if the humanoid housing 30 has a button or the like, the control device 50 may perform the process from step S12 onwards only if the user presses the button.

[0095] The specific control process for the anti-tipping control is not limited to the examples of the above embodiment. Any control that calculates a torque command value so that the tilt angle A2 approaches zero is acceptable. For example, the tilt angle A2 may be obtained from the angle sensor 41 and the control may maintain the tilt angle A2 in a state of approximately zero.

[0096] (Examples of changes to the standing control) • In the initial state, the vehicle robot R does not need to be supported solely by the auxiliary part 20. There may be a base or the like between the auxiliary part 20 and the floor or the like.

[0097] In steps S12 and S13 of the standing control in the first embodiment, and in steps S22 and S23 of the standing control in the second embodiment, the rotational speed of the flywheel 43 is not limited to the example of the above embodiment. It can be appropriately changed depending on the weight and shape of the vehicle robot R, the performance of the motor 44, etc.

[0098] In the first embodiment of the standing control, the process in step S12 may be omitted. In this case, for example, in step S13, the control device 50 may be rotated at 4000 rpm in the reverse direction. Similarly, step S22 in the second embodiment of the standing control may also be omitted.

[0099] In step S14 of the standing control in the first embodiment, the angular velocity threshold may be a value appropriately calculated by the control device 50. Even if it is a value appropriately calculated in this way, if it is a value calculated according to a prescribed program, it can be called a "predetermined angular velocity threshold". Furthermore, the angular velocity threshold in step S14 can be appropriately changed depending on the weight and shape of the vehicle robot R, the performance of the motor 44, etc.

[0100] In step S24 of the standing control in the second embodiment, the method is not limited to the example of the above embodiment, as long as it is possible to determine whether the tilt angle A2 is less than or equal to a predetermined change angle threshold, which is the angle between the gravity axis GA and the initial tilt angle A1. For example, it may be determined whether the value of the tilt angle A2 obtained from the angle sensor 41 is less than or equal to a predetermined change angle threshold.

[0101] In step S24, it may be determined that the angle of change is 0.9 degrees or more if the inclination angle A2 is 1.6 degrees or less, which is a predetermined value. Since the initial inclination angle A1 is a predetermined fixed angle of 2.5 degrees, an inclination angle A2 being 1.6 degrees or less is equivalent to an angle of change of 0.9 degrees or more. Thus, the determination of whether the angle of change is 1.6 degrees or less is not limited to a direct comparison between the angle of change and the angle of change threshold.

[0102] In the standing control of the second embodiment, it is not necessarily required to use absolute values ​​in the actual calculations in steps S24 and S26. For example, in step S24, the control device 50 may calculate the change angle as a negative value obtained by integrating the angular velocity over time from the initial state. The control device 50 may then determine whether or not this change angle is -0.9 or less. Even in this case, it can be said that the absolute value of the value obtained by integrating the velocity over time from the initial state is being compared with the change angle threshold.

[0103] Step S14 in the standing control of the first embodiment may be replaced with step S24 in the standing control of the second embodiment. That is, in the first embodiment, instead of determining whether the angular velocity of the vehicle robot R is greater than or equal to a predetermined positive angular velocity threshold, the control device 50 may determine whether, when the inclination angle A2 is the angle between the gravity axis GA and the initial inclination angle A1, the change angle, which is the difference between the inclination angle A2 and the initial inclination angle A1, is greater than or equal to a change angle threshold defined in the range of zero or more and less than or equal to the initial inclination angle A1.

[0104] Step S16 in the standing control of the first embodiment may be replaced with step S26 in the standing control of the second embodiment. That is, in the first embodiment, instead of determining whether the angular velocity value obtained from the angular velocity sensor 42 is zero or less, the control device 50 may determine whether the angle of change is greater than or equal to the initial tilt angle A1.

[0105] • Step S34 in the standing control of the third embodiment may be replaced with step S24 in the standing control of the second embodiment. That is, in the third embodiment, instead of determining whether the angular velocity of the vehicle robot R is greater than or equal to a predetermined positive angular velocity threshold, the control device 50 may determine whether, when the inclination angle A2 is the angle between the gravity axis GA and the initial inclination angle A1, the change angle, which is the difference between the inclination angle A2 and the initial inclination angle A1, is greater than or equal to a change angle threshold defined in the range of zero or more and less than or equal to the initial inclination angle A1.

[0106] Step S36 in the standing control of the third embodiment may be replaced with step S26 in the standing control of the second embodiment. That is, in the third embodiment, instead of determining whether the angular velocity value obtained from the angular velocity sensor 42 is zero or less, the control device 50 may determine whether the angle of change is greater than or equal to the initial tilt angle A1.

[0107] Steps S34 and S36 in the standing control of the third embodiment may be replaced with steps S24 and S26 in the standing control of the second embodiment, respectively. That is, in the third embodiment, instead of determining whether the angular velocity of the vehicle robot R is greater than or equal to a predetermined positive angular velocity threshold, the control device 50 may determine whether the change angle, which is the difference between the inclination angle A2 and the initial inclination angle A1, is greater than or equal to a change angle threshold defined in the range of zero or more and less than or equal to the initial inclination angle A1, when the inclination angle A2 is the angle between the gravity axis GA and the initial inclination angle A1. In addition, instead of determining whether the angular velocity value obtained from the angular velocity sensor 42 is zero or less, the control device 50 may determine whether the change angle is greater than or equal to the initial inclination angle A1.

[0108] <Note> The technical concepts that can be derived from the above embodiments and modifications are described below. [1] A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Equipped with, The control device is The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, It is possible to do this, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, The step includes bringing the torque command value closer to zero when the angular velocity becomes greater than or equal to a predetermined positive angular velocity threshold, The control device is A vehicle robot that, after starting the standing control, terminates the standing control and starts the anti-tipping control when the angular velocity becomes zero or less.

[0109] [2] A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Equipped with, The control device is The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, It is possible to do this, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, When the inclination angle is the angle between the gravity axis and the initial inclination angle, the step of bringing the torque command value closer to zero when the change angle, which is the difference between the inclination angle and the initial inclination angle, becomes greater than or equal to a predetermined change angle threshold, includes: The control device is A vehicle robot that, after starting the standing control, terminates the standing control and starts the anti-tipping control when the absolute value of the time integral of the angular velocity from the initial state becomes equal to or greater than the initial tilt angle.

[0110] [3] When the direction opposite to the aforementioned reverse rotation direction is defined as the forward rotation direction, The vehicle robot according to [1] or [2], wherein the standing control includes a step of outputting a torque command value in the forward rotation direction that is greater than zero, before the step of outputting the torque command value in the reverse rotation direction.

[0111] [4] The vehicle robot according to any one of [1] to [3], wherein the initial tilt angle is 2.7 degrees or less.

[0112] [5] The direction intersecting the first direction is called the second direction. When one of the second directions is designated as the second positive direction, and the direction opposite to the second positive direction is designated as the second negative direction, The vehicle robot according to any one of [1] to [4], comprising, as the auxiliary part, a first auxiliary part extending from the vehicle part in the second positive direction and a second auxiliary part extending from the vehicle part in the second negative direction.

[0113] [6] The vehicle robot according to any one of [1] to [5], wherein the auxiliary part includes a shaft extending from the vehicle part and an auxiliary wheel rotatably supported on the shaft.

[0114] [7] A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Applicable to vehicle robots equipped with, The control device, The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, Make it run, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, The control includes the step of bringing the torque command value closer to zero when the angular velocity exceeds a predetermined positive angular velocity threshold. The aforementioned fall prevention control is A program that is initiated when the angular velocity becomes zero or less after the aforementioned standing control has been initiated.

[0115] [8] A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Applicable to vehicle robots equipped with, The control device, The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, Make it run, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, In cases where the inclination angle is the angle between the gravity axis and the initial inclination angle, the control includes the step of bringing the torque command value closer to zero when the change angle, which is the difference between the inclination angle and the initial inclination angle, becomes greater than or equal to a predetermined change angle threshold. The aforementioned fall prevention control is A program that initiates control after the start of the standing control when the absolute value of the time integral of the angular velocity from the initial state becomes equal to or greater than the initial tilt angle. [Explanation of symbols]

[0116] R... Vehicle Robot 10…Vehicle Department 12...Wheel 20…Auxiliary part 21... Shaft 22A…1st auxiliary part 23A…1st auxiliary wheel 22B…Second auxiliary part 23B…Second auxiliary wheel 30... Humanoid cabinet 41…Angle sensor 42...Angular velocity sensor 43…Flywheel 44…motor 50…Control device GA... Gravity axis A1…Initial inclination angle A2… Inclination Angle

Claims

1. A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Equipped with, The control device is The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, It is possible to do this, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, The step includes bringing the torque command value closer to zero when the angular velocity becomes greater than or equal to a predetermined positive angular velocity threshold, The control device is After the standing control is initiated, if the angular velocity becomes zero or less, the standing control is terminated and the tipping prevention control is started. Vehicle robot.

2. A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Equipped with, The control device is The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, It is possible to do this, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, When the inclination angle is the angle between the gravity axis and the initial inclination angle, the step of bringing the torque command value closer to zero when the change angle, which is the difference between the inclination angle and the initial inclination angle, becomes greater than or equal to a predetermined change angle threshold, includes: The control device is After the standing control is initiated, if the absolute value of the time integral of the angular velocity from the initial state becomes equal to or greater than the initial tilt angle, the standing control is terminated and the tipping prevention control is initiated. Vehicle robot.

3. When the direction opposite to the aforementioned reverse rotation direction is defined as the forward rotation direction, The standing control includes, before the step of outputting the torque command value on the reverse rotation side, a step of outputting the torque command value on the forward rotation side that is greater than zero. A vehicle robot according to claim 1 or claim 2.

4. The initial tilt angle is 2.7 degrees or less. A vehicle robot according to any one of claims 1 to 3.

5. The direction intersecting the first direction is defined as the second direction. When one of the second directions is designated as the second positive direction, and the direction opposite to the second positive direction is designated as the second negative direction, The auxiliary part comprises a first auxiliary part extending from the vehicle part in the second positive direction and a second auxiliary part extending from the vehicle part in the second negative direction. A vehicle robot according to any one of claims 1 to 4.

6. The auxiliary part includes a shaft extending from the vehicle part and an auxiliary wheel rotatably supported on the shaft. A vehicle robot according to any one of claims 1 to 5.

7. A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Applicable to vehicle robots equipped with, The control device, The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, Make it run, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, The control includes the step of bringing the torque command value closer to zero when the angular velocity exceeds a predetermined positive angular velocity threshold. The aforementioned fall prevention control is This control is initiated when the angular velocity becomes zero or less after the aforementioned standing control has been started. program.

8. A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Applicable to vehicle robots equipped with, The control device, The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, Make it run, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, In cases where the inclination angle is the angle between the gravity axis and the initial inclination angle, the control includes the step of bringing the torque command value closer to zero when the change angle, which is the difference between the inclination angle and the initial inclination angle, becomes greater than or equal to a predetermined change angle threshold. The aforementioned fall prevention control is This control is initiated when, after the standing control has started, the absolute value of the time integral of the angular velocity from the initial state becomes equal to or greater than the initial tilt angle. program.

9. A vehicle section having wheels, An angular velocity sensor for detecting the angular velocity of the vehicle part, with the axis of rotation being a specific first direction, A flywheel rotatable with respect to an axis along the first direction, A motor that rotates the flywheel, An auxiliary part that supports the vehicle part such that the inclination angle of the vehicle part with respect to the axis of gravity becomes a predetermined initial inclination angle, A control device that outputs a torque command value to the motor, Equipped with, The control device is The lifting control involves raising the vehicle unit from an initial state in which the vehicle unit is supported by the auxiliary unit, A tipping prevention control that calculates the torque command value so that the aforementioned tilt angle approaches zero, It is possible to do this, When the vehicle rotates in a direction opposite to the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is defined as positive. When the vehicle rotates in the direction of the initial inclination angle with respect to the gravity axis, the direction of the angular velocity is set to negative. When, among the rotational directions of the motor, the rotational direction that generates a reaction force on the flywheel in the direction in which the angular velocity is positive is defined as the reverse rotational direction, The aforementioned standing control is, A step of outputting the torque command value on the reverse rotation side compared to the torque command value in the initial state, The control device includes the step of controlling the torque command value to bring the angular velocity closer to zero when the angular velocity exceeds a predetermined positive angular velocity threshold, or when the change angle, which is the difference between the inclination angle and the initial inclination angle, exceeds a predetermined change angle threshold. Vehicle robot.

10. The control device is After the standing control is started, if the angular velocity becomes zero or less, and / or if the absolute value of the time integral of the angular velocity from the initial state becomes equal to or greater than the initial tilt angle, the standing control is terminated and the tipping prevention control is started. The vehicle robot according to claim 9.

11. In the step of controlling the torque command value so that the angular velocity approaches zero, This includes outputting the value obtained by P control and / or PI control as the torque command value, based on the deviation between the target angular velocity and the current angular velocity. The vehicle robot according to claim 9 or claim 10.

12. In the step of controlling the torque command value so that the angular velocity approaches zero, This includes superimposing the gravitational torque onto the torque command value. The vehicle robot according to claim 11.

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