Driving Experiments of the Inverted Pendulum Vehicle with Human Pedaling

Abstract

In this paper, the driving performance of the inverted pendulum vehicle with human pedaling is investigated as one of the forms of Personal Mobility Vehicles. We made the prototype vehicle of the drive-by-wire system. We confirmed that the stabilization control was successfully realized with human pedaling. In the experiment, it was shown that the most effective control method is to put the desired pitch angle that was proportionate to the rotation rate of the pedal.