CMG-based anthropomorphic test device for human rider behavior reproduction for two-wheeled self-balancing personal mobility

Abstract

With the expansion of the self-balancing personal mobility (SBPM) market, an increasing number of accidents have been reported in recent years, while the relevant safety regulations have not been established yet. Safety and dynamic stability of the SBPM is critical for their operation, and they must be evaluated for them. SBPMs are operated by a human rider even for the evaluation tests, so the objectivity and the repeatability of the tests cannot be ensured. Also, there could even be a safety issue with the test rider. To solve this problem, we propose an anthropomorphic test device (ATD), which is a type of dummy robot. The ATD reproduces the human rider's dynamic behavior using a control moment gyroscope (CMG), so it can drive the SBPM instead of a human rider for the evaluation tests. Just like a human rider controls the SBPM by the disturbance torque made by the posture (i.e. the center of gravity) change, the CMG-based ATD reproduces the dynamic behavior of the SBPM by creating the same disturbance torque using the CMG. A detailed working principle and the design of the CMG-based ATD is introduced in this paper. For the validation of the CMG-based ATD's human rider behavior reproduction performance, the dynamic behavior of the SBPM measured from the actual human ride is compared with the data from the computer simulations.