Forward and backward motion control of personal riding-type wheeled mobile platform

Makiko Sasaki*, Naoto Yanagihara, Osamu Matsumoto, Kiyoshi Komoriya

*この研究の対応する著者

研究成果: Conference article査読

35 被引用数 (Scopus)

抄録

We propose a new concept in personal vehicles called the 'Personal riding-type wheeled Mobile Platform (PMP)' consisting of two wheels and a standing base for a human. The two wheels are driven independently, and traveling and steering is achieved by simply changing the relative position of the rider's center of gravity (COG) on the base. The vehicle has two merits: reducing the total weight for simple structure and saving space by not using a steering unit. In this paper, the mechanism of the first prototype, PMP-1, is introduced and its posture stabilizing and running control methods are proposed. The effectiveness of the posture stabilization control methods is demonstrated in computer simulations and human riding experiments. In the running control method, maneuverability by movement of the rider's COG is also investigated experimentally. The results demonstrate that the posture of the rider can be maintained and the velocity of forward and backward traveling can be controlled according to the rider's intentions.

本文言語English
ページ(範囲)3331-3336
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
2004
4
DOI
出版ステータスPublished - 2004
外部発表はい
イベントProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
継続期間: 2004 4 262004 5 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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