The present invention provides, in connection with a coaxial two-wheeled
inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled
inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a
chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the
chassis, a vehicle body supported by the
chassis, and an
inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis. The traveling body further comprises an attitude
actuator for shifting the vehicle body along the moving direction of the moving vehicle with respect to the chassis, and a braking
attitude control unit for controlling the attitude
actuator so as to shift the vehicle body to a direction opposite to the moving direction of the moving vehicle with respect to the chassis when braking is commenced while the moving vehicle is in motion.