344 Basic Study on the Behavior of Inverted Pendulum Vehicle and Driver using Multibody Dynamics
Shunsuke Arakawa, Chihiro NAKAGAWA, Atsuhiko SHINTANI, Tomohiro Itoh · The Proceedings of the Dynamics & Design Conference · 2011
Recently, inverted pendulum vehicle controlled by movement of driver's center of gravity, such as Winglet or Segway. These vehicles are called as "Personal Mobility Vehicle (PMV)". They are believed to be used widely from now on, because they are expected to move in pedestrian space differently from automobiles. But the PMV, an inverted pendulum vehicle, hasn't been studied enough compared with automobiles and bicycles. In this study, coupling model between a vehicle and a human are built using Multibody Dynamics. The vehicle is expressed by 2 rigid bodies (tire and body) and a human is expressed by 8 rigid links (foot, lower leg, femoral, body, head, upper arm, lower arm, hand). 2 type of impulses external forces are applied to the different part of the coupling model (vehicle body, human body, and head). We investigate the behaviors of a human model, especially the motion of human model's center of gravity. And we consider the differences in the responses for 2 types impulse external forces.