부산대학교 도서관

The various kinds of the electric personal mobility, which is one or two-seater, are being developed all over the world. These mobilities are applied into the substantiative experiment held in the several cities in order to investigate the effectiveness and popularity. The main specification of the personal mobility is the small footprint to reduce the parking space and alleviate traffic jam. The authors are developing the personal mobility, which has a leaning mechanism to tilt the upper body for keeping the posture stabilization not only during turning motion but also on the uneven road surface. In this paper, the posture control method based on the motion model considering yaw motion is proposed to realize the desired roll angle. The effectiveness of the proposed approach is verified in the experiment.