An inverted wheel type moving body according to the present invention includes a right chassis 17 and a left chassis 19 rotationally supporting wheels, motors 34 and 36 rotationally driving a right driving wheel 18 and a left driving wheel 20, a body 12 rotatably supported on the right chassis 17 and the left chassis 19 through a right arm 14 and a left arm 16, lower joint motors 65 and 95 disposed in the right arm 14 and the left arm 16 and varying vehicle height of the moving body 100, and a control unit 80 that controls the lower joint motors 65 and 95 to lower the vehicle height based on a fail signal 88 output when the inverted wheel type moving body is in an abnormal state.