Provided is a handcart (100) that performs inverted pendulum control as a first control method and controls so that the orientation of a main body section (114) is constantly maintained. When the value of the difference between a rotation speed (estimated value) that is estimated from the torque that is applied to a drive wheel (111) and the actual rotation speed (actual measured value) that is calculated from a drive wheel rotary encoder (26) is equal to or greater than a predetermined value (Δωup), the handcart (100) switches to a second control mode in which rotation of the drive wheel (111) is stopped and thereby prevents the occurrence of unintended idling when the main body section (114) is lifted up.
