Journal of Mechanical Science and Technology

, Volume 33, Issue 11, pp 5449–5459 | Cite as

High speed segway control with series elastic actuator for driving stability improvement

  • Haneul Yun
  • Jinuk Bang
  • Jihyeon Kim
  • Jangmyung LeeEmail author


Recently, Segway has been developed continuously for intelligent mobile vehicles and the performance of Segway is being enhanced. In particular, high-speed Segway must be controlled for maintaining stability in dangerous situations. Therefore, safety factors during driving situation have been considered seriously. In most of the developments and studies on Segway, however, the optimization and improvement of the controller component have been tackled and there are few studies on the safety devices and the stability of driving. Therefore, in this research we focus on the control of the SEA to improve the driving stability of high-speed Segway. The impact and vibration generated from the ground due to uneven road surfaces considerably influence the driving safety. So, by measuring and compensating for the external forces transmitted to the Segway using the SEA, a comfort of the driver can be improved and better driving stability can be ensured. By linear and curved path driving experiments, the performance of the proposed algorithm to improve the stability has been verified.


Compliance actuator High-speed segway Personal mobility Series elastic actuator (SEA) Stability improvement 



Mass of the DC motor


Mass of the ball-screw


Displacement generated by the DC motor


Displacement of the load part


Damping coefficient of the DC motor


Damping coefficient of the load


The constant of linear spring


Combined mass of motor and ball-screw


Force generated by the DC motor


Force acting on the spring


External force acting on the load part of SEA


Laplace transform result of motor system


Laplace transform result of spring system


Laplace transform result of load system

Kp, Kd

The proportional and differential gain


Desired input of PD controller


Distance of between the left and right wheels


Velocities of left and right wheels


A radius of rotation


Acceleration of the Segway


The time


Inertial force acting on the driver


Force acting on the Segway


Velocity of Segway


The normal force


The acceleration of gravity


Mass of the Segway


Angle for pitch tilting control


The centripetal force


The centripetal acceleration


Wheel velocity


Angle for roll tilting control


Final output of motion control part


SEA command generated by motion control part


SEA command generated by external force compensation part


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This material is based upon work supported by the Ministry of Trade, Industry & Energy (MOTIE, Korea) under Industrial Technology Innovation Program. No. 10062443’ 40 km/h of balancing robot with active suspension’.

This research was funded and conducted under ⌈the Competency Development Program for Industry Specialists⌉ of the Korean Ministry of Trade, Industry and Energy (MOTIE), operated by Korea Institute for Advancement of Technology (KIAT) (No. P0008473, The development of high skilled and innovative manpower to lead the Innovation based on Robot).


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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  • Haneul Yun
    • 1
  • Jinuk Bang
    • 1
  • Jihyeon Kim
    • 1
  • Jangmyung Lee
    • 1
    Email author
  1. 1.Dept. of Electronics EngineeringPusan National UniversityBusanKorea

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