In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway’s body to improve the cornering characteristics during turning. To ensure Segway’s driving safety in the curvature motion, it is necessary to compensate for the centripetal force by tilting the footplate to generate inward force from gravity. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high- speed curvature motion.

Abstract
1. 서 론
2. Magic formula of a tire model
    2.1 주행 방향 힘 (Longitudinal force)
    2.2 횡방향 힘(Lateral force)
3. Segway tire 운동방정식
4. SEA를 이용한 발판 기울기 제어
    4.1 원심력에 의한 하중 변화
    4.2 발판 기울임으로 인한 하중 이동
5. 정밀한 선회 주행을 위한 주행 알고리즘
6. 실 험
    6.1 SEA가 부착된 세그웨이
    6.2 하중이동에 대한 발판 제어
7. 결 론
References

• 김지현(Pusan National University) | Jihyeon Kim
• 방진욱(Pusan National University) | Jinuk Bang
• 이장명(Electrical Engineering, Pusan National University) | Jangmyung Lee Corresponding author