Development of a Sitting Inverted Pendulum Type Personal Vehicle to keep Passenger's Attitude

Abstract

In recent years in Japan the declining birthrate and aging population has progressed as a social problem. And we have to propose vehicles that solve the mobility gap instead of bicycles. Therefore, we are developing a sitting type compact Personal Vehicle (PV) using inverted pendulum control to realize comfortable mobility. The PV has a mechanism that can keep passenger's attitude on slopes and rough roads. Also, as an estimation method of the attitude angle, we apply Kalman filter with acceleration sensor and gyro sensor. In this paper we show our PV system from view point of mechanism and signal processing.