Improved Driving Stability of Segway Using Two Serial Elastic Actuators

In this paper, we propose Segway's precise driving algorithm using two Series Elastic Actuators (SEA). Recently, due to resource depletion, the development of electric driving means has been actively performed. In particular, Segway, one of personal mobility, is attracting attention due to its simple operation. However, Segway is also a balancing robot and there aremany safety accidents because there are few models with special safety devices. For this reason, we have proposed an active suspension in the previous study that uses SEA to control the angle of the footplate and to absorb the impact. However, four SEAs were used and the footplate was attached to the upper part of the SEA, which resulted in a high height of the footplate, which reduced efficiency and gave an unstable ride. So we propose a structure that reduces the height of the footplate while reducing the SEA to two. We also propose a Precision Driving Algorithm to correct the path deviation caused by the change of center of mass during turning. In order to verify the proposed algorithm and model, we perform a comparative experiment with Segway used in previous studies.