TRAVELING BODY

PROBLEM TO BE SOLVED: To provide a travelling body capable of avoiding its falling even if an abnormal state of driving occurs.SOLUTION: This traveling body 10 can run with a pair of driving wheels 34, 44 that are arranged to be substantially coaxially while keeping a vehicle body 12 in its fall state. A control module 14 of the traveling body is independently provided with a stabilizing controller 50 for outputting a torque command value for keeping the vehicle body in its fall state to motors 32, 42 and a running controller 52 for outputting a torque command value for running the travelling body in response to an inputting operation performed through an operating lever 18 to the motors 32, 42. When an abnormal state is detected by means of an abnormality detector 58, torque command value output by a control section for travelling is stooped. At the time of abnormal state detection, all the torques that can be produced by the motors 32, 42 can be used for keeping the fall state of the vehicle body, so that it is possible to keep the fall state or to extend time until its fall occurs. During this period, an auxiliary wheel 26 is set out. The vehicle body can be supported by three wheels before the vehicle body falls.