Abstract With the expansion of the self-balancing personal mobility (SBPM) market, an increasing number of accidents have been reported in recent years, while the relevant safety regulations have not been established yet. Safety and dynamic stability of the SBPM is critical for their operation, and they must be evaluated for them. SBPMs are operated by a human rider even for the evaluation tests, so the objectivity and the repeatability of the tests cannot be ensured. Also, there could even be a safety issue with the test rider. To solve this problem, we propose an anthropomorphic test device (ATD), which is a type of dummy robot. The ATD reproduces the human rider's dynamic behavior using a control moment gyroscope (CMG), so it can drive the SBPM instead of a human rider for the evaluation tests. Just like a human rider controls the SBPM by the disturbance torque made by the posture (i.e. the center of gravity) change, the CMG-based ATD reproduces the dynamic behavior of the SBPM by creating the same disturbance torque using the CMG. A detailed working principle and the design of the CMG-based ATD is introduced in this paper. For the validation of the CMG-based ATD's human rider behavior reproduction performance, the dynamic behavior of the SBPM measured from the actual human ride is compared with the data from the computer simulations.

中文翻译：

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基于 CMG 的拟人测试装置，用于两轮自平衡个人移动的人类骑手行为再现

摘要 随着自平衡个人出行（SBPM）市场的扩大，近年来发生的事故越来越多，而相关的安全法规尚未建立。SBPM 的安全性和动态稳定性对其运行至关重要，必须对其进行评估。SBPM 即使在评估测试中也由人类骑手操作，因此无法确保测试的客观性和可重复性。此外，测试骑手甚至可能存在安全问题。为了解决这个问题，我们提出了一种拟人测试装置（ATD），它是一种假人机器人。ATD 使用控制力矩陀螺仪 (CMG) 再现人类骑手的动态行为，因此它可以驱动 SBPM 代替人类骑手进行评估测试。就像人类骑手通过姿势（即重心）变化产生的扰动扭矩来控制 SBPM 一样，基于 CMG 的 ATD 通过使用 CMG 产生相同的扰动扭矩来再现 SBPM 的动态行为。本文详细介绍了基于 CMG 的 ATD 的工作原理和设计。为了验证基于 CMG 的 ATD 的人类骑行者行为再现性能，将从实际人类骑行中测得的 SBPM 的动态行为与计算机模拟数据进行比较。