Modeling the interaction between two-wheeled self-balancing vehicle and its rider

• Autorzy: Ciężkowski M.

Identyfikatory

DOI

10.2478/ijame-2013-0020

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

human-machine interaction; system control; ankle joint model; LQR; inverted pendulum

PL

interakcja człowiek-maszyna; system sterowania; model stawu skokowego; regulator liniowo-kwadratowy; wahadło odwrócone

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2013
• Tom: Vol. 18, no. 2
• Strony: 341--351
• Opis fizyczny: Bibliogr. 8 poz., rys., wykr.

Twórcy

autor

Ciężkowski M.

• Białystok Technical University, Faculty of Mechanical Engineering Department of Automatics and Robotics ul. Wiejska 45 C, 15-351 Białystok, Poland

Bibliografia

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• Reference 1, http://www.segway.com
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