| Title |
Driving Stability Improvement of High Speed Segway with The Series Elastic Actuator |
| Authors |
윤하늘(Ha-Neul Yun) ; 방진욱(Jin-Uk Bang) ; 김지현(Ji-Hyeon Kim) ; 이장명(Jang-Myung Lee) |
| DOI |
https://doi.org/10.5573/ieie.2019.56.4.101 |
| Keywords |
Stability improvement ; Series elastic actuator (SEA) ; High speed Segway ; Personal mobility |
| Abstract |
Recently, research and development of PM(personal mobility) such as the Segway, electronic unicycle have been developed continuously and related technologies have been continuously improved. However, most researches focus on the performance of the PM and the excellence of controller and there is little research on stability. So, it is necessary to deal with the dangerous situations and to secure the stability of driver. This study proposes the use of a SEA (Series Elastic Actuator) in a Segway model to improve the driving stability during curved and straight driving and , thus, improving the comfort of the driver and ensuring driving stability. This paper is mainly focused on the control method of the SEA for improvement of the driving stability. The performance of the algorithm suggested in this paper is verified by linear and curved driving experiments, thereby, confirming the improved the driving stability. |