Determination of interactions between two-wheeled self-balancing vehicle and its rider

Ciężkowski, Maciej; Pawłuszewicz, Ewa

doi:10.1109/mmar.2015.7283988

Cited by 5 publications

(2 citation statements)

References 7 publications

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“…A local government review of the utilization of Segway in the Australian Capital Territory was published in 2012; it discussed the acceptance, safety, impacts, merits, and demerits of Segway use within a community [23]. Several studies have also investigated standing-type vehicles designed for use as assistive mobility devices [24][25][26][27]. At present, the empirical studies investigating real subjects using new self-balancing vehicle models in public spaces are found to lack detail.…”

Section: Introductionmentioning

confidence: 99%

Effects of Human Factors on Public Use of Standing-Type Personal Mobility Vehicle

Hashimoto

Tomita

Matsumoto

et al. 2020

Journal of Advanced Transportation

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To significantly reduce the occurrence of severe traffic accidents, reducing the number of vehicles in urban areas should be considered. Personal mobility is essential for realizing this reduction, which requires consideration of the last-/first-mile problem. The overall objective of our research is to solve this problem using standing-type personal mobility vehicles as transportation devices; however, to evaluate the feasibility of such vehicles as future mobility devices, it is necessary to evaluate their operation under real-world conditions. Therefore, in this study, experimental and survey data relating to the velocity, stability, safety, and comfort of a standing-type personal mobility device are obtained to evaluate its performance in three different scenarios. The results show that the personal mobility vehicle is socially well received and can be safely operated on sidewalks, irrespective of the gender or age of the driver; moreover, the results suggest that subjects who routinely use a bicycle are adept at avoiding and absorbing the impacts of small holes and bumps, thereby yielding reduced acceleration values (in all directions) and pitch, roll, and yaw rates. This is anticipated to benefit the future development of personal mobility devices and help realize effective and accessible public transport systems, as well as reduce the number of vehicles in urban areas.

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Section: Introductionmentioning

confidence: 99%

Effects of Human Factors on Public Use of Standing-Type Personal Mobility Vehicle

Hashimoto

Tomita

Matsumoto

et al. 2020

Journal of Advanced Transportation

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“…This model is often used in control theory for analysis of modern control algorithms (Hung, Fernandez, 1993). Research in this field allowed for the development of self-balancing vehicles (Ciężkowski, Pawłuszewicz, 2015), mechanics of robot's gait etc (Astrom, Murray, 2008). The double inverted pendulum is a more non-linear and unstable dynamic system.…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of the Double Inverted Pendulum

Lukowska¹,

Tomaszuk²,

Dzierzek³

et al. 2019

Engineering Mechanics

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The inverted pendulum is a classic example commonly found in control theory. Double inverted pendulum which is a combination of inverted pendulum and double pendulum makes the control problem more challenging. The purpose of this work was to design an optimal mechanical construction of a linear double inverted pendulum on a cart. Pendulums usually have the form of a freely attached rod to the cart moving in one dimension. The presented system assumes the functionality which ensures better efficiency. The main determinant of optimal parameters is the stabilization of the pendulum in vertical position and control of the position of the cart on the guide rail. The general concept outlined at the beginning presents the key elements necessary for the proper operation of the system. In some systems available in the literature and Internet, the engine moves with the cart, increasing the inertia forces acting on it. In the designed system, it was decided to fix the motor to the base. The engine in such a system should have the precise control and a high starting torque that allows stabilization of the pendulum. The presented conception base on the most optimal selection of all components.

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Reinforcement Learning-Based Two-Wheel Robot Control

Chang

Liou

2018

Recent Advances in Intelligent Information Hiding and Multimedia Signal Processing

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Determination of interactions between two-wheeled self-balancing vehicle and its rider

Cited by 5 publications

References 7 publications

Effects of Human Factors on Public Use of Standing-Type Personal Mobility Vehicle

Effects of Human Factors on Public Use of Standing-Type Personal Mobility Vehicle

Optimal Design of the Double Inverted Pendulum

Reinforcement Learning-Based Two-Wheel Robot Control

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