Development of a front-wheel-driven bicycle capable of self-standing in a stationary state

Abstract

This paper proposes a front-wheel-driven bicycle which can maintain its balance in a stationary state. The proposed bicycle has one degree of freedom for driving the steering, and has one degree of freedom for driving the front wheel. To maintain its balance, when running, the steering angle is controlled, and when staying, the torque of the front wheel is controlled. The paper shows control laws for these motions, and experimental result shows the proposed bicycle can maintain its balance in the case of running and staying.