2P1-R18 A proposition of the method to avoid overturning of the vehicle inverted pendulum in ascending and descending stairs(Wheeled Robot/Tracked Vehicle (3))

Abstract

In this study, we reveal the fact that the passenger's movement on the vehicle inverted pendulum in going up and down stairs cause the movement of wheels and the overturning happens. To avoid the overturning, we add the slider control depending on the passenger's mass position to the controller. In case the new controller is insufficient in safety, we suggest the additional ways. One way is the append of new actuator which prevent wheels from moving. The other way is the change of the gain on feedback control in accordance with the passenger's mass velocity and acceleration. Additionally, we consider the method of ascending and descending stairs to fulfill the safety and comfort.