抄録
An inverted pendulum vehicle controlled by the movement of the driver's center of gravity, such as Winglet or Segway are one of the Personal Mobility Vehicles (PMV). PMV is sometimes expected to be used in pedestrian spaces. When a driver makes a sudden operation, the driver has the potential to lose his balance according to the characteristics of the vehicle control. Because the vehicle control cannot follow the movement of the driver. Therefore, we aim to achieve the vehicle control that is friendly to the driver. As the basic study, we investigated the relationships between the behavior of a driver and an inverted pendulum vehicle at the time of acceleration in the case that handle and the hand are not constrained. In this study, we construct a model which constrains the hand and the handle, and simulate at the time of acceleration. The coupling model of the vehicle and human is built using Multibody Dynamics. The vehicle is expressed by 3 rigid bodies (tire, body and handle) and a human is expressed by 8 rigid bodies (foot, lower leg, femoral, body, head, upper arm, lower arm, and hand). We give acceleration control commands to the driver model. By the numerical simulation, we investigate the behavior of the center of gravity of a driver and the velocity of the vehicle. In addition, we investigate difference in behavior with or without constrained handle and hand at the time of acceleration operation. As the result, it was found that the case with the constraint between the handle and hand can be accelerated more quickly than the case without the constraint.
