@article{oai:kindai.repo.nii.ac.jp:00007364,
 author = {友國,  伸保 and 三井,  賀貴 and 小竹,  元基},
 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, a control method for an inverted pendulum type personal mobility robot with virtual wheel is described. The robot is able to run on not only paved flat plane but also stairs with two virtual wheels consists of rotaly link and two wheels. By using this contol method based on LQR with 2 dimentional physical model, a inverted pendulum type personal mobility robot is able to climb a stairs in simulation., application/pdf},
 pages = {59--62},
 title = {〈研究論文〉倒立振子機構に基づく階段昇降ロボットの姿勢制御},
 volume = {47},
 year = {2013},
 yomi = {トモクニ, ノブヤス and ミツイ, ヨシタカ and シノ, モトキ}
}