Stabilized motion of a small sized bike robot only by steering control

摘要

We are interested in making and control a small sized two-wheels bike robot and we aim to balance the robot and to lead it to desired direction only with automatic steering control. Our research purpose is to make an original small sized bike robot and to move the robot for over 300 meters in indoor corridors under the automatic steering control only. We report the making of the original small bike robot and experiments. The dimension of the bike robot was designed as proportional to the real bicycle. Slalom motion and long distance motion were performed by steering control only.