Development of wheeled inverted pendulum type personal mobility with pedal: Design of prototype platform and verification of basic driving function

Seonghee Jeong, Yuji Masuda, Yutaka Hiroi, Takayuki Takahashi, Osamu Matsumoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In this paper, the mechanism and basic driving function of a wheeled inverted pendulum-type personal mobility with a pedal (Wi-PMP) are described. The mobility consists of a wheeled inverted pendulum-type mobile platform and a leg rowing mechanism, and thus it can be driven by a rider's leg rowing motion. Moreover, to retain the merits of pivot turning of a parallel two-wheeled mobility, a differential gear box and a one-way clutch are installed between the pedal and the wheel shafts. It is designed such that a rider can ground his feet while sitting on the saddle. In addition, the Wi-PMP is compact and light-weight, and thus it can be driven and parked in a narrow space. Through experiments using three types of driving mode(motor driving, pedal driving, and assist driving), it was confirmed that mobility can realize all driving modes and pivot turning while keeping the feet of the rider on the pedals.

Original languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages418-423
Number of pages6
Publication statusPublished - 2012
Externally publishedYes
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Conference

Conference2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

Keywords

  • Pedaling
  • Personal Mobility
  • Wheeled Inverted Pendulum

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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