Abstract
A lot of researches on inverted pendulum cart are done in recent years. And it is attracted as a personal vehicle which realizes energy saving for many practical applications, such as the Segway and the P.U.M.A. The personal mobility has the advantage of energy efficiency for transportation because the cart is small and light. However, since most conventional personal vehicles require a certain level of physical ability from the driver, it is not suitable for elderly and disabled people to drive. Therefore, as an inverted pendulum cart capable of driving to anyone, I develop an inverted pendulum cart with a sliding mechanism for posture control, and aim for realization of acceleration and deceleration while keeping perpendicular cart angle. In this research, proposed inverted pendulum cart with a sliding mechanism for posture control was designed and manufactured, and the posture control performance was verified through experiment.
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