フルビークルモデルシミュレーションによりロール軸高さの乗心地への影響を解析する．不整地走行で左右輪がトランピング運動する時，ロール軸高さがタイヤ横反力に影響する．ロール軸高さを路面上0mから1.2mまで変え各種不整路面を走らせて，ばね上加速度がどのように変わるかを調べその影響を解析する．

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When no slip is assumed in wheels, a steering mechanism based on Ackerman's theorem can be used to obtain smooth turning of a car. We propose a new steering mechanism which is composed of only spur gears. The steering angle of each driving wheel is controlled via the gear mechanism. The effectiveness of this steering mechanism is verified using a vehicle model. It is verified that the mechanism presented in this work is appropriate for vehicles. This mechanism can he applied to the attitude control of vehicles.

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This paper presents the stabilization of a four-wheeled vehicle that has independent suspensions and an universal joint. In the former control experiment, vibratory responses were observed mainly in the chassis and the vehicle was not stabilized. The reason is unmodeled friction effects in the actuators. It is suppressed by using minor feedback of proportional and derivative control. Implementation of the minor feedback takes two steps: converting control input from torque of the driving wheels into their angular acceleration, and tracking the wheel angular velocity to the desired value. The mathematical model is firstly derived and the controller is designed based on the model. The proposed control scheme is verified through numerical simulations.

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This paper focuses on the lateral motion of the automobile considering roll dynamics at high speed. The equation of motion of the vehicle response to steering input considering coupling motion between roll and lateral direction is theoretically solved by means of replacing roll motion by tire equivalent lateral deformation. The result shows that the effect of the coupling motion reduces yawing damping ratio, keeps the yawing natural frequency, and delays yawing response to steering input. Moreover, good agreement is found between the theoretical and experimental frequency response to steering input.

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The robot vehicle with Variably Con figured Segmented Wheels (VCSWs) has been developed for water disaster. This vehicle travels both on rough terrain and on water. The suspension mechanism is applied to each wheel. The wire drive and control system is applied and tested to a vane control mechanism which built in a VCSW in order to adjust the cyclic vane motion. The experimental data of suspended VCSW unit shows that the precise control is possible. The angle error of vane control axis is less than several degrees.

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