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http://dx.doi.org/10.5302/J.ICROS.2014.14.0021

Steering System in a Self-Balancing Electric Scooter  

Choi, Yong Joon (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
Ryoo, Jung Rae (Department of Electrical and Information Engineering, Seoul National University of Science and Technology)
Doh, Tae-Yong (Department of Electronics and Control Engineering, Hanbat National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.9, 2014 , pp. 942-949 More about this Journal
Abstract
In this paper, a new steering system for a self-balancing electric scooter is proposed with an intuitive steering command input method, where the steering command is generated from the rider's motion of shifting body to move the center of gravity toward the rotational direction. For the purpose, weight distributions on the rider's feet are measured using force sensors placed beneath the rider's feet, and the difference is applied to a steering control system. Stability of the steering system and resultant radius of gyration is investigated by modeling the steering system in consideration of the rider's motion and centrifugal force. The proposed steering system is applied to experiments, and the results are presented to prove the validity of the proposed method.
Keywords
self-balancing electric scooter; steering control system; intention reading; center of gravity; centrifugal force;
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Times Cited By KSCI : 6  (Citation Analysis)
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