Abstract
This study proposes “Human-Powered Robotics,” a concept of the intelligent machines driven by the power applied by user directly. The development of the robotic personal mobility vehicle prototype based on this concept is described in this paper. This is a vehicle driven by the operator’s pedaling power, which is capable of servo control of the wheel angle using the powder clutch. Experimental results show that it is possible to perform servo control of the wheels and traveling control including forward/backward/pivot turn, and to stabilize the posture as an inverted pendulum by the operator’s pedaling power.
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Acknowledgment
This work was partially supported by JKA and its promotional funds from the KEIRIN RACE, and by JSPS KAKENHI Grant Number 17K06254 and 17H02131, and advised by Takuya Hosobata, RIKEN.
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Sugahara, Y., Akiyama, H., Jong, J., Endo, M., Okamoto, J. (2019). Design and Control of a Human-Powered Robotic Personal Mobility Vehicle Prototype. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_33
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DOI: https://doi.org/10.1007/978-3-319-78963-7_33
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