著者

佐藤 力 宮下 照夫

出版者

The Society of Instrument and Control Engineers

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.17, no.4, pp.518-523, 1981-07-30 (Released:2009-03-27)

参考文献数

7

被引用文献数

4 4

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A gyro-two-wheel vehicle was designed, realized and experimented which stably stood during not only running but also stopping. A horizon sensor, a servomoter, a perpendicular gyroscope and electronic circuits were used in order to stabilize the vehicle, whose center of gravity was located at higher position than the supporting plane. After the stability condition was derived in the corresponding differential equations, the detailed structure was shown including mechanical feature, control system and horizon sensor. Finally experimental trajectories were shown to confirm the stability of the vehicle.