Simulation of Omni-Directional Low-Floor Mobility Controlled by Inverted Pendulum and Human Postural Control Model in forward-backward direction

The purpose of this research is to develop an omni-directional low-floor mobility. The mobile platform and the interface of the mobility have already developed. The height of the mobile platform is 37 mm from road surface to the boarding floor. Omni-directional movement is realized by using four mecanum wheels. The operation interface is consisted of eight load cells. The operation for omni-directional movement is realized by using load distribution information obtained from eight load cells. However, movement of the mobility tends to oscillate due to unintended body movement caused by inertia of the platform. In order to solve this problem, this research proposes control method by introducing not only an inverted pendulum model but also a human postural control model. In this paper, we focus on forward backward movement. First, the estimation method of human body inclination using load distribution on the boarding surface is proposed. Next, a controller of the mobility is proposed by introducing the human postural control model, and is simulated. Finally, the effectiveness of the controller including the human postural control model is shown by comparing with the controller not including the human postural control model which is validated by preliminary simulation.