Light Weight Personal Vehicle Operated by the Movement of Rider's Center-of-Gravity

DOI 7 Citations 11 References

Bibliographic Information

Other Title
  • 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.

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Details

  • CRID
    1390001204725886848
  • NII Article ID
    10017484708
  • NII Book ID
    AN00141189
  • DOI
    10.7210/jrsj.24.533
  • ISSN
    18847145
    02891824
    http://id.crossref.org/issn/02891824
  • NDL BIB ID
    7963809
  • Text Lang
    ja
  • Data Source
    • JaLC
    • NDL
    • Crossref
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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