Study on construction of a rider robot for two-wheeled vehicle

In this study, we constructed a fully autonomous two-wheeled vehicle (the Rider Robot) which was used for evaluation of dynamics. As the first step of the study, we constructed the control algorithms and the control system. The control algorithms consist of the standing stability control which keeps the perpendicular motion, and the directional control which follows the target course. These algorithms were determined based on human rider's behavior. The system was constructed using some actuators and sensors. The results show that Rider Robot could follow the target course while keeping the standing stability. Consequently, there is considerable validly in these constructed algorithms and the system. (C) 2003 Society of Automotive Engineers of Japan, Inc. and Elsevier Science B.V. All rights reserved.