A Novel Tilting Mechanism for Personal Mobility Robot Platform: Mathematical Modeling and HILS-Based Control Verification

Abstract

This paper introduces a suspension-integrated tilting mechanism for narrow-track mobility robot platforms, offering a novel means of achieving commanded body tilt without departing from conventional suspension layouts. The architecture provides a two-degree-of-freedom roll path with inherent passive self-centering, thereby reconciling mechanical simplicity with enhanced motion capability. A linearized dynamic model forms the foundation for a dual-layer control scheme, consisting of a reference generator and a high-bandwidth tracking loop. The proposed approach is rigorously evaluated through hardware-in-the-loop simulations that combine a real-time driving simulator with a physical hardware bench. Relative to a non-tilting baseline, the platform demonstrates substantial reductions in perceived lateral acceleration and lateral load transfer, signifying improved ride comfort and rollover stability. These findings establish suspension-integrated tilting with model-based control as a compelling pathway toward safe and stable next-generation mobility robot platforms.