抄録
Recently, Personal Mobility Vehicle(PMV) has been developed around the world, that support moving short distance and reducing environmental load. However, PMV does not have the ability to moving rough terrain. We've developed the rough terrain PMV RT-Mover Ptype2. In this research, I propose auxiliary for additional function attaches Ptype2. In this paper, I propose generating method of force reference signal is a part of Auxiliary Leg control. The proposed Force Reference Signal Method is the experiments of the rough terrain PMV RT-Mover Ptype2.
