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In this research, a small humanoid robot and a bicycle of comparable size are constructed. Like the human rider, the robot is designed to pedal, balance and steer the bicycle. We particularly focus on the design of control system for the robot to balance and steer the bicycle using the handlebar. The control system is novel that it is capable of estimating the uncertain center of gravity of the robot-bicycle...
In this paper, a sensor fusion algorithm is proposed for electric bicycles to accomplish power-assist function without using torque sensors. The sensor fusion is observer-based and uses outputs from the wheel encoder and a 6-axis inertial measurement unit to estimate the longitudinal acceleration of the bicycle and the slope angle of the road. It is mainly based on the kinematic model that describes...
In this paper, a pedaled, self-balanced, personal mobility vehicle is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. In order to reduce the interference and provide a better human-machine interaction, a novel balancing controller with adaptation capability is proposed. This balancing controller, when working...
In this paper, a pedaled, self-balanced, personal mobility vehicle named Legway, is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. For this one-wheel vehicle, it is intended that the unstable longitudinal dynamics is stabilized by a feedback control system but the lateral balancing and steering are manually controlled...
In this paper, a pedaled, self-balanced, personal mobility vehicle is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. In order to reduce the interference and provide a better human-machine interaction, a novel balancing controller with the adaptation capability is proposed. This balancing controller, when working...
In this paper, a pedaled, self-balanced, personal mobility vehicle is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. Two control issues are investigated. Firstly, the vehicle is open-loop unstable, so one needs to regulate the motor torque properly regulated to stabilize the vehicle for easy maneuvering purposes...
In this paper, a pedaled, self-balanced, personal mobility vehicle is developed. The vehicle is structurally similar to a pedaled unicycle but uses a brushless DC (BLDC) hub motor as its main driving wheel. Two control issues are investigated. Firstly, the vehicle is open-loop unstable, so one needs to regulate the motor torque properly regulated to stabilize the vehicle for easy maneuvering purposes...
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