リーン機構を有するパーソナルモビリティのロール運動モデルと姿勢安定化制御の提案

• 廣瀬 徳晃

  （株）豊田中央研究所

• 津坂 祐司

  （株）豊田中央研究所

• 清水 毅

  トヨタ自動車（株）

• 山内 智裕

  トヨタテクニカルディベロップメント（株）

• 白石 孝

  トヨタテクニカルディベロップメント（株）

• 谷中 壯弘

  トヨタ自動車（株）

書誌事項

タイトル別名

• Proposal of motion model around roll axis and posture stabilization control for personal mobility with leaning mechanism

抄録

The various kinds of the electric personal mobility, which is one or two-seater, are being developed all over the world. These mobilities are applied into the substantiative experiment held in the several cities in order to investigate the effectiveness and popularity. The main specification of the personal mobility is the small footprint to reduce the parking space and alleviate traffic jam. However, the small footprint causes the deterioration of the posture stabilization. The authors are developing the personal mobility, which has a lean actuator to tilt the upper body for keeping the posture stabilization not only during turning motion but also on the uneven road surface. In this paper, the motion model considering yaw motion around roll axis is derived. In addition, the posture control method based on the motion model is proposed to realize the desired roll angle, which ensures the required range of the zero moment point. The effectiveness of the proposed approach is verified by the experiments using a prototype.

収録刊行物

• 日本機械学会論文集

  日本機械学会論文集 81 (826), 15-00087-15-00087, 2015

  一般社団法人 日本機械学会

キーワード

• Personal mobility
• Active lean control
• Zero moment point
• Narrow tread
• Posture stabilization

詳細情報

• CRID: 1390282680491249664
• NII論文ID: 130005084382
• DOI: 10.1299/transjsme.15-00087
• ISSN: 21879761
• Web Site: https://www.jstage.jst.go.jp/article/transjsme/81/826/81_15-00087/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可