日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
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
佐々木 牧子柳原 直人松本 治小森谷 清
著者情報
ジャーナル フリー

2006 年 24 巻 4 号 p. 533-542

詳細
抄録

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.

著者関連情報
© 社団法人 日本ロボット学会
前の記事 次の記事
feedback
Top