Top > JRM > Parallel Bicycles and Their Applications

single-rb.php

JRM Vol.26 No.1 pp. 9-14
doi: 10.20965/jrm.2014.p0009
(2014)

Review:

Views over last 60 days: 902

Parallel Bicycles and Their Applications

Maria Q. Feng*, Takashi Kawamura**, and Takayuki Tanaka***

*Columbia University in the City of New York, 500 West 120th Street, New York, NY 10027, USA

**Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan

***Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan

Received:
January 6, 2014
Accepted:
January 10, 2014
Published:
February 20, 2014
Creative Commons License
Keywords:
parallel bicycle robot, posture restoration control, dynamic drive control, personal vehicle
Abstract
This paper describes the successful research and development (R&D) of parallel bicycles (PB robots) including six prototypes created by the authors and their applications to personal vehicles. The first, developed in 1986, consists of a pair of coaxial wheels and an inverted pendulum on the wheel axis. Since then, the authors have carried out fundamental and practical studies on static/dynamic posture stabilization control, dynamic movement, and slope and stair ascent/descent. The PB robot control mechanism has recently been applied to educational robots, mobile humanoid robots, and personal vehicles. This paper also discusses personal vehicles commercialized as an application of the PB robots.
Cite this article as:
M. Feng, T. Kawamura, and T. Tanaka, “Parallel Bicycles and Their Applications,” J. Robot. Mechatron., Vol.26 No.1, pp. 9-14, 2014.
Data files:
References
  1. [1] Q. Feng and K. Yamafuji, “Design and Simulation of a Control System of an Inverted Pendulum, Robotica,” Cambridge University Press, Vol.6, No.2, pp. 235-241, 1988.
  2. [2] K. Yamafuji and K. Inoue, “Study on the Postural Stability of a Unicycle,” Preprint of Annual Yamanashi Meeting of Japan Society of Mechanical Engineering (JSME), pp. 4-6, 1986 (in Japanese).
  3. [3] S. Mori, N. Nishihara, and K. Furuta, “Control of an Unstable Mechanical System,” Int. J. of Control, Vol.23, No.5, pp. 673-692, 1976.
  4. [4] Z. Q. Sheng and K. Yamafuji, “Study on the Stability and Motion Control of a Unicycle (Part 1: Dynamics of a human riding unicycle and its modeling by link mechanisms),” JSME Int. J., Series 3, Vol.38, No.2, pp. 249-259, 1995.
  5. [5] Z. Q. Sheng and K. Yamafuji, “Study on the Stability and Motion Control of a Unicycle (Part 2: Design and experimental results of a unicycle robot),” Trans. JSME, Vol.61, No.583C, pp. 1042-1049, 1995 (in Japanese).
  6. [6] Z. Q. Sheng and K. Yamafuji, “Study on the Stability and Motion Control of a Unicycle (Part 3: Characteristics of a unicycle robot),” JSME Int. J., Series 3, Vol.39, No.3, pp. 560-568, 1996.
  7. [7] Z. Q. Sheng and K. Yamafuji, “Postural Stability of a Human Riding a Unicycle and Its Emulation,” IEEE Trans. on Robotics and Automation, Vol.13, No.5, pp. 709-720, 1997.
  8. [8] K. Yamafuji and T. Tanaka, “Research and Development of Innovative Robots,” Yokendo Ltd., 2002 (in Japanese).
  9. [9] K. Yamafuji and Q. Feng, “Study on the Postural Control of a Twin Cycle (Part 1, Design and simulation of a nonlinear control system of an inverted pendulum model),” J. of Japan Society for Precision Engineering (JSPE), Vol.53, No.10, pp. 1622-1625, 1987 (in Japanese).
  10. [10] K. Yamafuji and T. Kawamura, “Stability and Driving Control of a Coaxial Bicycle,” Trans. of JSME, Vol.54, No.501C, pp. 1114-1121, 1988 (in Japanese).
  11. [11] K. Yamafuji and T. Kawamura, “Stability Control of a Coaxial Bicycle,” J. of Robotic Society of Japan (RSJ), Vol.7, No.4, pp. 338- 343, 1989 (in Japanese).
  12. [12] K. Yamafuji and K. Yoshida, Japanese Patent No.2530652, 1996.
  13. [13] K. Yamafuji, Y. Miyagawa, and T. Kawamura, “Design and Steering Control of the Parallel Bicycle,” Trans. of JSME, Vol.55, No.513C, pp. 1229-1223, 1989 (in Japanese).
  14. [14] T. Hirabayashi and K. Yamafuji, “Posture and Driving Control of a Variable Structure Type Parallel Bicycle (1st Report, Upright posture and driving control of an arm-wheel model),” Trans. of JSME, Vol.56, No.523C, pp. 721-730, 1990 (in Japanese).
  15. [15] T. Hirabayashi and K. Yamafuji, “Posture and Driving Control of a Variable Structure Type Parallel Bicycle (6th Report, Driving control of the control arm-wheel model on a slope whose shape is not known),” Trans. of JSME, Vol.59, No.563C, pp. 2185-2190, 1993 (in Japanese).
  16. [16] T. Hirabayashi and K. Yamafuji, “Posture and Driving Control of a Variable Structure Type Parallel Bicycle (3rd Report, Dynamic analysis of a control arm-wheel model),” Trans. of JSME, Vol.57, No.539C, pp. 2328-2335, 1991 (in Japanese).
  17. [17] T. Hirabayashi and K. Yamafuji, “Posture and Driving Control of a Variable Structure Type Parallel Bicycle (5th Report, High speed drive of the arm-wheel model),” Trans. of JSME, Vol.58, No.552C, pp. 2501-2506, 1992 (in Japanese).
  18. [18] K. Yamafuji and T. Naruse, Japanese Patent No.2772972, 1998.
  19. [19] T. Hirabayashi and K. Yamafuji, “Posture and Driving Control of a Variable Structure Type Parallel Bicycle (4th Report, Posture change and locomotion by jumping of the arm-leg model),” Trans. of JSME, Vol.58, No.545C, pp. 193-199, 1992 (in Japanese).
  20. [20] K. Yamafuji and A. Koshiyama, “Posture and Motion Control of the Variable Structure Type Parallel Bicycle (2nd Report, Standing up and fall down by using torque changing method),” Trans. of JSME, Vol.57, No.539C, pp. 2285-2290, 1991 (in Japanese).
  21. [21] K. Yamafuji, A. Koshiyama, T. Misawa, and S. Okuda, “Posture and Motion Control of the Variable Structure-Type Parallel Bicycle (3rd Report, Development of a working arm, control methods and experimental results),” Trans. of JSME, Vol.59, No.564C, pp. 2368-2375, 1993 (in Japanese).
  22. [22] T. Yasui and K. Yamafuji, “Motion Control of a Parallel Bicycle-Type Mobile Robot with a Control Arm and Body Composed of Three Links,” Trans. of JSME, Vol.57, No.538C, pp. 1904-1909, 1991 (in Japanese).
  23. [23] Y. Momoi and K. Yamafuji, “Motion Control of a Parallel Bicycle-Type Mobile Robot with a Control Arm and Body Composed of Three Links (2nd Report, Driving control),” Trans. of JSME, Vol.57, No.541C, pp. 2938-2943, 1991 (in Japanese).
  24. [24] K. Kawaguchi, T. Tanaka, K. Yamafuji, and T. Uehara, “Sweeper: New Vehicle Modeled on a Magic Broom (1st Report, Concept and development of a prototype),” Proc. of 10th Annual Conf. of Kanto Branch of JSME, pp. 411-412, 2003 (in Japanese).
  25. [25] K. Kawaguchi, T. Tanaka, K. Yamafuji, and T. Uehara, “Sweeper: New Vehicle Modeled on a Magic Broom (2nd Report, Human interface for intuitive control),” Proc. of 2004 JSME Conf. on Robotics and Mechatronics, 2P2-H-13, pp. 1-2, 2004 (in Japanese).
  26. [26] K. Yamafuji, “USEFUL ROBOTs and HOPEFUL ROBOTs,” Fuji Technology Press, 2010.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Nov. 22, 2024