2012 年 4 巻 1 号 p. 18-32
This study aims to realize an assist system for beginners to ride a unicycle as a long term purpose. This paper considers an index to evaluate the prociency in riding a unicycle. The analysis of the relationship between Moment Balancing Point (MBP) and Center of Pressure (CP) on the saddle by rider's action is important. To simulate human riding a unicycle, a Human-Unicycle model is introduced consisting of a unicycle model and an approximation model of a rider with multi-links. The mathematical model and the relationship among torque of the rider's thighs, body and the unicycle wheel are derived by Projection Method. A stabilizing control input is designed by considering the linearized simple unicycle model consisting of a saddle and a wheel. Stable riding of the Human-Unicycle model is simulated by using the torque translated from the stabilizing control input by the torque relationship. The proles of MBP and CP are calculated, and are compared with experimental results. As the result, MBP might be useful as an index for the prociency in riding a unicycle.