1P1-B13 平地走行と階段移動を両立する個人用移動体の機構と運動制御

概要

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In this paper, we propose a mechanism design and control method of a personal vehicle which can run on the plane, steps and stairs. This vehicle consists of two arms, four wheels, a seat slider and a compensation link. This vehicle has the arms on left and right sides of the body. The arms connect two wheels and can rotate infinitely. The arms are connected to the body by the compensation link. Since the arms rotate infinitely, this vehicle can climb up and get down a step and stairs. And this vehicle has a seat slider. Since the center of gravity moves with this seat slider mechanism, this vehicle can keep its balance. Since we consider the vehicle's condition, stability and safety, this vehicle has four control modes. This vehicle which is equipped with these mechanism design and control method can climb up stairs by simulation.
一般社団法人日本機械学会の論文