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Development of Wheeled Inverted Pendulum Type Personal Mobility with Pedal
Seonghee Jeong,Yuji Masuda,Yutaka Hiroi,Takayuki Takahashi,Osamu Matsumoto 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
In this paper, the mechanism and basic driving function of a wheeled inverted pendulum-type personal mobility with a pedal (Wi-PMP) are described. The mobility consists of a wheeled inverted pendulum-type mobile platform and a leg rowing mechanism, and thus it can be driven by a rider’s leg rowing motion. Moreover, to retain the merits of pivot turning of a parallel two-wheeled mobility, a differential gear box and a one-way clutch are installed between the pedal and the wheel shafts. It is designed such that a rider can ground his feet while sitting on the saddle. In addition, the Wi-PMP is compact and light-weight, and thus it can be driven and parked in a narrow space. Through experiments using three types of driving mode(motor driving, pedal driving, and assist driving), it was confirmed that mobility can realize all driving modes and pivot turning while keeping the feet of the rider on the pedals.