Self sustaining bicycle robot with steering controller

Yasuhito Tanaka, Toshiyuki Murakami

Research output: Contribution to conferencePaperpeer-review

110 Citations (Scopus)


Bicycle is a transportation device without any environmental burden. However, bicycle is unstable in itself and it will fall down without human assistance like steering handle or moving upper body. In these days, electric power assistance bicycles are used practically, but all of those bicycles merely assist human with pedal driving and there are no bicycles that help to stabilize its position. Hence, stabilizing the posture and realizing stable driving of a bicycle have been researched. Dynamic model of running bicycle is complicated and it's hard to recognize completely. However, assuming that the rider doesn't move upper body, dynamics of bicycle is represented in equilibrium of gravity and centrifugal force. Centrifugal force is risen out from the running velocity and turning radius determined by steering angle. Under these conditions, it is possible to stabilize bicycle posture by controlling its steering. In this paper, the dynamic model derived from equilibrium of gravity and centrifugal force is proposed. Then the control method for bicycle steering based on acceleration control is proposed. Finally, the validity of this method is proved by the simulations and experimental results.

Original languageEnglish
Number of pages5
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28


OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Self sustaining bicycle robot with steering controller'. Together they form a unique fingerprint.

Cite this