人力で走行する倒立振子型安定化車両の操舵性能

抄録

In this paper, the steering performance of a human-powered dynamically stabilized vehicle is investigated as one of the forms of Personal Mobility Vehicles (PMV). The produced prototype vehicle has the reaction force actuator and it reacts according to the handle steering input. The turning is realized by the differential of the rotation of the right and left wheels. The steering system is designed by the steering dynamics of the bicycle. In the experiment, the errors from the target trajectory were measured and the maneuverability was evaluated by the subjects. It was shown that setting the driving torque of the wheels using the gain proportional to the handle steering angle and its rate had high performance.