Abstract
We experimentally investigated the maneuverability and comfort of an inverted-pendulum vehicle when operated with handle roll rotation and handle yaw rotation. Our experimental vehicle can switch between handle modes and is equipped with a Bluetooth communication function for measurement of the state of the vehicle. We thus investigated the two handle operations at high, intermediate and low gains. The experimental course was a slalom course with two cones placed at an interval of 1.8 m. The research participants made one round trip. The trajectory of the vehicle was measured by a three-dimensional motion analysis device called VICON. Maneuverability for the two types of handle operartios and for various control gains was determined from data of the trajectory of the vehicle, revolutions of the wheel, the steering angle, and a questionnaire.
