Steering control of the Personal riding-type wheeled Mobile Platform (PMP)

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

*この研究の対応する著者

研究成果: Conference contribution

51 被引用数 (Scopus)

抄録

This paper reports on the continued development of a new concept for a 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. We have already proposed the first prototype (PMP-1) and its posture stabilizing and running control methods, and we have achieved proper forward and backward movement according to the rider's intentions. This paper describes our proposed structure for detecting the rider's COG on the base and the steering control method in order to achieve steering control by changing the position of the rider's COG. and the second prototype (PMP-2) whose weight is smaller than 12kg. 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.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版社IEEE Computer Society
ページ1697-1702
ページ数6
ISBN(印刷版)0780389123, 9780780389120
DOI
出版ステータスPublished - 2005
外部発表はい

出版物シリーズ

名前2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

フィンガープリント

「Steering control of the Personal riding-type wheeled Mobile Platform (PMP)」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル