US Patent 10920927 Gimbal device

A gimbal device according to various embodiments of the present disclosure may include: a handle; a gimbal; a joint pivotably coupling one end of the gimbal to the handle; and at least one processor, wherein the gimbal includes: a holder configured to hold an electronic device including a camera; an angular velocity sensor disposed in the holder and configured to detect a movement of the holder; and a plurality of motors coupled to the holder and configured to pivot the holder in pitch, roll, and yaw directions according to the detected movement. The at least one processor is configured to identify a pivoting state of the joint, and to change axis information assigned to each of detection values of three axes obtained by using the angular velocity sensor, based on the identified pivoting state. Other embodiments are possible.