Provided is a wheelbarrow in which a walking assistant can adjust a balance direction with his / her sense even when the ground contact surface has a gradient. A handcart according to the present invention is provided on a pair of wheels, one or a plurality of drive units that rotate the pair of wheels, a main body unit on which one pair of wheels is rotatably supported, and the other of the main body units. And a support portion that is rotatably connected to the main body portion on one side and rotatably supports one or a pair of auxiliary wheels on the other side. An angle formed by the main body and the support is detected, and an angle formed by the main body with respect to a direction orthogonal to the ground plane is estimated based on the detected angle. An input of a correction value for correcting the target pitch angle is received, and the posture of the main body in the pitch direction is controlled based on the target pitch angle corrected by the received correction value.接地面が勾配を有する場合であっても、被歩行補助者が自分の感覚で釣合い方向を調整することができる手押し車を提供する。 本発明に係る手押し車は、一対の車輪と、該一対の車輪を回転させる一又は複数の駆動部と、一方に一対の車輪が回転可能に支持される本体部と、本体部の他方に設けられている把持部と、一方にてピッチ方向に回転可能に本体部と連結してあり、他方にて一又は一対の補助輪を回転可能に支持する支持部とを備える。本体部と支持部とのなす角度を検出し、検出された角度に基づいて、本体部が接地面に直交する方向に対してなす角度を推算する。目標ピッチ角を修正する修正値の入力を受け付け、入力を受け付けた修正値により修正された目標ピッチ角に基づいて、本体部のピッチ方向の姿勢を制御する。
