Light Weight Personal Vehicle Operated by the Movement of Rider's Center-of-Gravity
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- Sasaki Makiko
- Nissan Motor Co., Ltd.
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- Yanagihara Naoto
- Tamagawa University
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- Matsumoto Osamu
- National Institute of Advanced Industrial Science and Technology
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- Komoriya Kiyoshi
- National Institute of Advanced Industrial Science and Technology
Bibliographic Information
- Other Title
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- 重心移動のみで操縦可能な小型・軽量パーソナルビークル
- ジュウシン イドウ ノミ デ ソウジュウ カノウ ナ コガタ ケイリョウ パーソナルビークル
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Abstract
This paper reports the development of a compact and light-weight personal vehicle called the“Personal riding-type wheeled Mobile Platform (PMP) ”that consists of two wheels and a standing base for a human rider. The two wheels are driven independently, and forward and backward movement and steering are achieved by simply changing the relative position of the rider's center of gravity (COG) on the base. The vehicle has two distinct advantages: a reduction in total weight through its simple structure and a space-saving design that does not use a steering unit. In this paper, we introduce the first prototype (PMP-1) and the second (PMP-2) whose weight is smaller than 12 [kg], and propose its posture stabilizing and running control methods to realize the proper forward and backward movement by changing the position of the rider's COG. In order to achieve steering control according to the rider's intentions, we propose the structure for detecting the rider's COG on the base and the steering control method. We also investigated the steering control method to improve maneuverability in various estimated standing poses. Our experimental results demonstrate that natural steering control can be achieved using the rider's COG based on the rider's intentions.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 24 (4), 533-542, 2006
The Robotics Society of Japan
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Details
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- CRID
- 1390001204725886848
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- NII Article ID
- 10017484708
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
- http://id.crossref.org/issn/02891824
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- NDL BIB ID
- 7963809
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed