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ORIGINAL PAPER
Modeling the Interaction Between two-Wheeled Self-Balancing Vehicle and its Rider
1
Białystok Technical University, Faculty of Mechanical Engineering Department of Automatics and Robotics ul. Wiejska 45 C, 15-351 Białystok, POLAND
Online publication date: 2013-06-08
Publication date: 2013-06-01
International Journal of Applied Mechanics and Engineering 2013;18(2):341-351
KEYWORDS
ABSTRACT
The paper presents a modeling method and mathematical description of a two-wheeled self-balancing vehicle and its rider. A model of the rider that was used contains a model of the ankle joint, so we could determine the interaction between the rider and the vehicle. The paper presents results of computer simulations , which show the fundamental processes during riding, such as acceleration and braking.
FUNDING
This research received no specific grant from any funding agency in the public, commercial, or not-for-profit sectors.
CONFLICT OF INTEREST
The authors declare that they have no conflict of interest.
DATA AVAILABILITY
All data generated or analysed during this study are included in this published article.
REFERENCES (8)
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Astrom K.J. and Murray R.M. (2008): Feedback Systems: An Introduction for Scientists and Engineers. - Princeton: University Press.
2.
Bryson A.E. and Ho Y.C. (1969): Applied Optimal Control. - Blaisdell, Waltham, MA.
3.
Ciężkowski M. and Siemieniako F. (2012): Closed-loop position control of inverted pendulum. - Scientific and Didactic Equipment, Vol. XVII Nr 1/2012, pp.57-62.
4.
Loram I.D., Kelly S.M. and Lakie M. (2001): Human balancing of an inverted pendulum: is sway size controlled by ankle impedance? - Journal of Physiology, 532.3, pp.879-891.
7.
Weiss P.L. (1985): Position Dependence of Ankle Joint Dynamics. - McGill University.
8.
Winter D.A., Patla A.E., Prince F., Ishac M. and Gielo-Perczak K. (1998): Stiffness Control of Balance in Quiet Standing. - Journal of Neurophysiology 80:1211-1221.
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| eISSN: | 2353-9003 |
| ISSN: | 1734-4492 |
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