抄録
A mobile inverted pendulum (MIP) draws attention as a next-generation energy saving vehicle especially for urban life because it is energy-efficient to transport a person and has a small footprint. It is important for the MIP to run safely on various type of road. However, there are few studies on the MIP considering slopes or steps. We focus on a change of slope angle and aim to improve safety when the MIP runs on such a road. To achieve this goal, a simulation model of the MIP which runs on a road with a change of slope angle is constructed. This simulation model introduces constraint contact formulation to consider change of a contact point. Motion of the MIP is analyzed when it runs on the road. The results of the analyses indicate that there is a correlation between the acceleration of human body and time rate of change of slope angle. It is also shown to be difficult to balance safety with running velocity following capability with a fixed feedback gain. Based on the results, we propose to switch controllers on level ground and on a slope. Effectiveness of the proposed method is verified in simulations.
