Abstract
In this paper, the mechanism and basic driving performance of a second prototype of a wheeled inverted pendulum type personal mobility with a pedal (WI-PMP) are described. The mobility consists of a wheeled inverted pendulum type mobile platform and a leg rowing mechanism; therefore, a driver can move it by both of electric motors and his/her leg rowing motion. Moreover, in order to keep the merits of pivot turning of a two wheeled mobility, it introduces a differential gear box and one way clutch between pedal and wheel shafts. It is designed so that a driver can ground his/her both legs while sitting on a saddle, and is compact and a light weight that it can be driven and parked in a complicated space. Through the experiments of three types of driving mode, an electric, a pedaling, and power assist, it was confirmed that the mobility could realize all of the driving modes and the pivot turning while putting driver's legs on a pedal.
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