INVERTED PENDULUM TYPE ROBOT

To provide an inverted pendulum type robot that can instantaneously avoid the attitude from becoming unstable with the space saved while reducing a power consumption.SOLUTION: A bag-structural member 220 is inflated by supplying a compressed gas inside a cylinder 230 into the internal space of the bag-structural member 220 through an air-supply passage 211. In response to this, the connection between the upper end part and the lower end part kept protected by a connection mechanism 240 of a protection member 210 is disconnected, and thus the protection member 210 is released outward over the entire circumference. Subsequently, a central part 221 and a tongue piece 222 folded on the outside thereof jut or bulge outward and obliquely downward. Accordingly, when a base body 110 is tilted in a direction, at least one of the tongue pieces 222 corresponding to the direction among a plurality of tongue pieces 222 abuts against the floor surface so that the base body 110 is not tilted any more.SELECTED DRAWING: Figure 5 【課題】消費電力の低減を図りながら省スペースで姿勢が不安定になる事態を瞬時に回避しうる倒立振子型ロボットを提供する。【解決手段】ボンベ２３０の内部の圧縮気体が給気経路２１１を介して袋構造部材２２０の内部空間に供給されて袋構造部材２２０が膨張する。これに応じて、保護部材２１０の連結機構２４０による上端部および下端部の連結が解除され、保護部材２１０が全周にわたり外側に開放される。そして、中央部２２１およびその外側で折り畳まれていた舌片２２２が外側かつ斜め下方に張り出すまたは膨出する。これにより、基体１１０がある方位に傾倒した際に複数の舌片２２２のうち当該方位に対応する少なくとも１つの舌片２２２が床面に当接して、基体１１０がそれ以上傾斜する事態が抑制される。【選択図】図５