Inverted wheel type moving body and method of controlling the same

An inverted wheel type moving body according to the present invention includes a right chassis and a left chassis rotationally supporting wheels, motors and rotationally driving a right driving wheel and a left driving wheel , a body rotatably supported on the right chassis and the left chassis through a right arm and a left arm , lower joint motors and disposed in the right arm and the left arm and varying vehicle height, a travel control module controlling the motors and so as to follow calculated accelerations, and a posture control module controlling the lower joint motors and to lower the vehicle height and change a position of a center of mass of the body with respect to an axle in a front-back direction in accordance with the accelerations when the accelerations exceeds a certain range.