Single-track vehicles with conventional tired wheels cannot move to a specific direction without steering. This paper proposes an omnidirectional single-track vehicle equipped with two double-row active omni wheels. However, because of the double-row structure, the traveling stability of the vehicle is uncertain. This study aims to reveal the feasibility of stabilization focusing on the behavior in the roll direction through simulations and experiments. A kinetic model considering the contact state between the outer rollers and ground is established. Simulations are conducted based on this model, which shows that the vehicle can travel stably for more than 10 s even without balance control. The roll angle varies as the composition of small and large waveforms. The small waveforms are caused by alternating contact of the outer rollers at two sides, while the large waveforms are generated because of the angular impulse. A prototype vehicle is developed for experiments. The results show that the vehicle can travel without falling down in some periods at an appropriate speed.

具有传统轮胎的单轨车辆在没有转向的情况下无法向特定方向移动。本文提出了一种配备两个双排主动式全向轮的全向单轨车辆。然而，由于具有双排结构，所以车辆的行驶稳定性不确定。这项研究旨在通过模拟和实验揭示侧倾行为的稳定性的可行性。建立了考虑外辊与地面接触状态的动力学模型。基于该模型进行的仿真表明，即使没有平衡控制，车辆也可以稳定行驶超过10 s。横滚角随大小波形的变化而变化。小波形是由外部滚子在两侧的交替接触引起的，而大的波形是由于角度脉冲而产生的。开发了用于实验的原型车。结果表明，车辆可以在适当的速度下行驶一段时间而不会掉落。