POSTURE CONTROL METHOD FOR PARALLEL TWO-WHEELED VEHICLE

PURPOSE:To deal with the drive of a parallel two-wheeled vehicle against such a driving surface where the slope is continuously changed by controlling the tilt of a control arm so as to always keep the synthetic centroid of an upper structure and the control arm on a contact point between the vehicle and the driving surface and then keeping a stable static erection state of the upper structure. CONSTITUTION:The driving wheels 3 and a control arm 2 are driven by the motors 4 and 5, and an upper structure 1 is erected. In such conditions, a parallel two-wheeled vehicle is driven. Then the staticorrection stability state of the upper structure is maintained by controlling the tilt of the arm 2 so that the synthetic centroid of the upper structure of the parallel two-wheels and the control armd is always kept at the gronnd contacting point between the vehicle and its driving surface. Thus the erection maintenance control is ensured by means of the arm 2 and therefore the vehicle is driven independently of the erection maintenance control. Then the vehicle can be stopped at a designated position and also moved to an optional position at a high speed.