The decision making between which direction to steer, to lean and how fast to pedal is an innate ability to the rider. The decision making is automatic and to the rider, it does not really require any mental effort to maintain balance. Though it may seem like an easy tasks for humans, it can be quite for robots. For a human, balance is sensed in the vestibular system located in the ear and plays a major role in keeping upright. For a robot, balance can be measured using an accelerometer or gyroscope. However processing that data into useful information to achieve balance can be quite complicated. That data, needs to be filtered and refined in order to control steering, speed and tilt to maintain balance. The goal of my project is to create an artificial system that closely mimics a human riding a bicycle, such that a self balancing bicycle can be achieved.
One of the purposes of the project is to further understand how balance works in a bicycle. Some of the factors that influence the stability of a bicycle include the steering and angle of steering, speed and weight distribution. Understanding how these factors work together can be a benefit to the future of bicycle designs and developments. Cycling promotes social wellbeing and reduces green house gas emissions