マルチボディダイナミクスを用いた倒立振子型車両と操縦者の挙動に関する基礎検討

概要

論文の詳細を見る
An inverted pendulum vehicle controlled by movement of driver's center of gravity, such as Winglet or Segway is one of Personal Mobility Vehicles (PMV). PMV is sometimes expected to be used in pedestrian space. However the dynamics of an inverted pendulum vehicle and a driver haven't been studied enough. In this study, the coupling model of the vehicle and human is built using Multibody Dynamics. The vehicle is expressed by 2 rigid bodies (tire and body) and a human is expressed by 8 rigid bodies(foot, lower leg, femoral, body, head, upper arm, lower arm, and hand). Two types of impulses as external forces are inputted to the different part of the coupling model (vehicle body, human body, and head) . We investigate the behaviors of a human model, especially its motion of center of gravity. It was found that inputting the external force to the location which is far from the center of gravity of a human makes human to keep his posture more difficult.