Recently bicycles are widely used as a convenient transportation tool. A mechanical design of bicycle has improved well and it has an ability to self-stabilize, but it is essentially unstable and a driving skill of bicycle users is required for a realization of its stable motion. From a view point of wide use for the future aging society, the assist control of the bicycle that makes a bicycle motion more stable independently of the environment condition is expected. As well known, the power assistance of a bicycle has been used, but a practical assistance of bicycle motion, in particular, the stable control of bicycle configuration has not been developed. In this paper, the two handle control algorithms for autonomous stable running are proposed with the aim of developing a stable human assistance bicycle. The proposed algorithms are verified by numerical and experimental results.
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