Prototype of Wheeled Stilts-Type Personal Micro-Mobility

We propose a wheeled stilts-type personal micro-mobility. The mobility itself is a form with a wheel on the lower end of a pole-shaped handle, which is used as one mobility in pairs. The user holds the pole-shaped handle on each side in hand and stands on step attached over the wheels with both legs. The two mobilities are completely separated, and the appearance of getting on the mobility is similar to “stilts”. The mobilities move while being inverted pendulum by applying the inverted pendulum control to each left and right body. In this work, we have developed a mobility mechanism prototype with low height-tubular wheels in the drive unit and conduct basic driving experiments. We report the findings and problems from the experiment of flat surface running.