The Proceedings of the Dynamics & Design Conference
Online ISSN : 2424-2993
2006
Session ID : 546
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546 Stabale Rinning Control of Autonomous Bicycle Robot
Taichi SAGUCHIMasaki TAKAHASHIKazuo YOSHIDA
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
Bicycle is one of the most familiar vehicles in daily life, but it is a well-known unstable system in itself. Although there are two methods of steering a handle and moving a weight in order to make a bicycle stable, it is shown that the former is more effective than the latter. This study deals with modeling and stabilizing control problems of a two-wheel bicycle. In the modeling, wheels side slip is taken into consideration. In the control, an optimal feedback control for stable running control is obtained. An autonomous bicycle robot is further developed. As a result of experiment, it is shown that the bicycle robot is able to run straight and turn stably. The effectiveness of the two-wheel bicycle model and control law are demonstrated.
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© 2006 The Japan Society of Mechanical Engineers
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