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題名 | Experimental Study of a Bicycle Dynamically Self-Stabilizing Driven on a Sloping Surface=在斜坡路面可動態自動平衡之腳踏車雛型之研製 |
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作者 | 紀捷聰; | 書刊名 | 建國科大學報 |
卷期 | 25:1 民94.10 |
頁次 | 頁95-111 |
分類號 | 448.942 |
關鍵詞 | 腳踏車; 斜坡路面; 自我平衡; Bicycle; Sloping surface; Self-stabilizing; |
語文 | 英文(English) |
中文摘要 | 本論文旨在研究踏車在科坡路面行走時之動態平衡問題,所以建構此一實驗型腳踏車。一般為了克服腳踏車在斜坡路面行騎時所產生的動態平衡而的騎乘者的安全本身就是一項困難的問題。本論文主要朝向以硬體發展一可動態控制腦踏車行騎時的平衡的控制方法,成功地實現腳踏載騎乘皷在斜坡路面行騎時可以如同在平地一樣騎乘容易及安全。另外,對於因為關騎路面傾斜,而使騎乘者對於踏板的施力過程產生不協調的現象,使腳踏車的騎乘者在騎乘腳踏車的過程中容易產生肌肉疲勞及施力效率不佳的結果。本文提出一種基於感測的方法,可以動態隨時量測腳踏車的傾料角度,而調整騎乘者的座椅或上半身的傾斜角度而改變腳踏車整體的重心位置,降低騎乘者的不舒適感,並改善騎乘皷的騎乘穩定度及安全性。 |
英文摘要 | In this paper, the study is focused on developing a new experimental bicycle and its stability issues while the bicycle is driven on the sloping surface. One of the most difficulties need to overcome is the bicycle self-sustaining stability when it is driven on a sloping surface. This paper concentrates on the development of a hardware control circuits. Successful completion of this controller provides the final examines the method by which humans stably riding bicycle on a sloping surface, and concludes that human beings use static gaits for sloping surface. By practical analysis, it is further revealed that dynamic gaits are not energy efficient for driven on sloping surface. Based on the observation and analysis of the gait employed by human beings, a sloping-surface gait for the experimental bicycle, named as CTUbike, is synthesized. The results of experimentation with the prototype bicycle presented a dynamically self-stabilizing ability. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。