@article{oai:kindai.repo.nii.ac.jp:00007350,
 author = {友國,  伸保},
 journal = {近畿大学工学部研究報告, Research reports of the Faculty of Engineering, Kinki University},
 month = {Dec},
 note = {[synopsis] In this paper, an inverted pendulum type personal mobility robot with virtual wheel is described. The robot enables to climb a stairs only with two virtual wheels consist of one rotary link and two wheels which are attached to the both ends of the rotary link. The mechanical dimensions of the rotary link and tire restrict applicable step size. Therefore these mechanical dimensions are delivered by an analysis based on Building Code., application/pdf},
 pages = {89--92},
 title = {〈研究論文〉倒立振子機構に基づく階段昇降ロボットの設計},
 volume = {46},
 year = {2012},
 yomi = {トモクニ, ノブヤス}
}