抄録
Many researches on inverted pendulum have been conducted. Inverted pendulum tilts to keep balance during acceleration and deceleration. However, large tilt makes some problems. For example, losing the balance and dropping transported products. Some researches to reduce the tilt of the inverted pendulum are conducted. As one of the way to reduce the tilt, a Center of Gravity Moving Mechanism (COGMM) is suggested. It is already known that movement of the center of gravity in the horizontal direction is effective to reduce the tilt. But the research about COGMM in the vertical direction is not conducted. So we propose a two-wheeled inverted pendulum with a COGMM in the vertical direction rather than horizontally. We experiment on the Inverted pendulum with COGMM and confirm the effect.
