2P1-F02 Developement of control method for getting on and off a human-riding wheeled inverted pendulum vehicle on slope

Abstract

We are developing a human-riding wheeled inverted pendulum vehicle for everyday use. There are some slopes in ordinary environment and it is important to treat a problem on easy getting on and off the mobility on a slope. So we considered some necessary functions and developed control methods for the problem. We applied a state-feed back control with feed-forward torque which are calculated with estimated slope angle. The slope angle is estimated by disturbance observer which is robust to force added to the mobility in motion of getting on or off the mobility by a rider.