Abstract
A conventional two-wheeled inverted pendulum vehicle consists of a step for a driver and motors for driving the wheels. In this study, a two-wheeled inverted pendulum vehicle pedaled by a driver was investigated as a personal mobility vehicle. The vehicle uses stabilization control for an inverted pendulum and pedaling torque provided by the driver. We made a prototype vehicle and carried out driving experiments to confirm successful operation. Stabilization control was realized when the driver pedaled. From the results of the input voltages of the pedaling and stabilization control, we found the vehicle moved according to the driver's pedaling. In addition, the vehicle moved forward even with a negative pitch angle.
