OS1205 Study on Man-Powered Robotics : 6th Report: Inverted Pendulum Control of the Man-Powered Personal Mobility

Abstract

The goal of this study is to propose a concept of "Man-powered robotics," a design methodology for an intelligent robotic system powered by human's motion. In the system, the servo control of robotic joints is performed by controlling transmitted torque of the power given by human's motion. In this paper, for the developed prototype of the human-powered personal mobility KMM74, inverted pendulum attitude control method is described. The authors modeled the passenger and vehicle body as a rigid body, and designed the controller based on the linear quadratic regulator. The effectiveness of proposed method is confirmed through the simulation results.