A traveling apparatus and a method for controlling thereof performs
efficient charging with regenerative electrical power. An angle
.theta..sub.0 of a table (not illustrated) is detected by a gyroscopic
sensor and an acceleration sensor to be supplied to a central control
unit. Then, positional command signals Pref1(t) and Pref2(t) formed are
supplied to motor control units which perform control of driving left and
right motors respectively. Further, rotational positions .theta.m1 and
.theta.m2 of the motors are respectively detected in rotary encoders,
those det signals are fed back to the motor control units, and control is
performed so as to comply with the positional command signals Pref1(t)
and Pref2(t) formed in the central control unit. At the same time, a
regenerative state is detected by comparing the rotational positions
.theta.m1 and .theta.m2 with the positional command signals Pref1(t) and
Pref2(t), and information thereon is transmitted to a regenerative
charging circuit by serial communication to perform a control of
discharging and charging a secondary battery (battery).