Suppression of roll vibration for personal mobility robot using driving torque of wheels

The present paper introduces a novel control approach to suppress the roll vibration for the personal mobility robot (PMR)[1] using the driving torque of the wheels. The several types of intelligence technologies, such as localization, environment recognition, autonomous locomotion, driving assistance, and mapping, are being developed for the PMR in order to support comfortable driving [2][3]. On the other hand, in the case of the PMR, it is important to improve the performance of the vehicle motion. However, roll vibration can easily occur when the PMR travels on bumpy roads or turns quickly. Therefore, a novel control approach is proposed in order to suppress the roll vibration without the additional actuators or mechanisms. The effectiveness of the proposed approach has been verified by conducting simulations and experiments using a prototype PMR.