抄録
A prototype of dual-wheel inverted-pendulum vehicle (DIPY) was developed. DIPV have become popular in crowded area because of their compact size and maneuverability. However, no technical report has been published on the control of such a vehicle with its rider on, in spite of the fact that rider's inertia and maneuver skill has strong effect on the vehicle performance. This study tried to simulate the DIPV-rider system movement using a simple dynamical model. The actual DIPV and rider movements were measured using LabView and motion capture system. From the time domain analyses, the effects of rider's maneuvering skill and experience, the control gains were observed.
