Forward and backward motion control of personal riding-type wheeled mobile platform

Makiko Sasaki*, Naoto Yanagihara, Osamu Matsumoto, Kiyoshi Komoriya

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

30 Citations (Scopus)


We propose a new concept in personal vehicles called the 'Personal riding-type wheeled Mobile Platform (PMP)' consisting of two wheels and a standing base for a human. The two wheels are driven independently, and traveling and steering is achieved by simply changing the relative position of the rider's center of gravity (COG) on the base. The vehicle has two merits: reducing the total weight for simple structure and saving space by not using a steering unit. In this paper, the mechanism of the first prototype, PMP-1, is introduced and its posture stabilizing and running control methods are proposed. The effectiveness of the posture stabilization control methods is demonstrated in computer simulations and human riding experiments. In the running control method, maneuverability by movement of the rider's COG is also investigated experimentally. The results demonstrate that the posture of the rider can be maintained and the velocity of forward and backward traveling can be controlled according to the rider's intentions.

Original languageEnglish
Pages (from-to)3331-3336
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number4
Publication statusPublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1


  • Inverted pendulum
  • State feedback
  • Vehicle
  • Wheeled system

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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