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Title: Scube - concept and implementation of a self-balancing, autonomous mobility device for personal transport
Authors: Klöppel, Manfred
Römer, Felix
Wittmann, Michael
Hatam, Bijan
Herrmann, Thomas
Sim, Lee Leng
Lim, Douglas Jun Siang
Lu, Yunfan
Medovy, Vladimir
Merkle, Lukas
Ten, Richmond Wy Xin
Ongel, Aybike
Hong, Jeffrey Yan Jack
Ng, Heong Wah
Lienkamp, Markus
Keywords: Engineering::Mechanical engineering
Issue Date: 2018
Source: Klöppel, M., Römer, F., Wittmann, M., Hatam, B., Herrmann, T., Sim, L. L., . . . Lienkamp, M. (2018). Scube - concept and implementation of a self-balancing, autonomous mobility device for personal transport. World Electric Vehicle Journal, 9(4), 48-. doi:10.3390/wevj9040048
Journal: World Electric Vehicle Journal
Abstract: Public transportation (PT) systems suffer from disutility compared to private transportation due to the inability to provide passengers with a door-to-door service, referred to as the first/last mile problem. Personal mobility devices (PMDs) are thought to improve PT service quality by closing this first/last mile gap. However, current PMDs are generally driven manually by the rider and require a learning phase for safe vehicle operation. Additionally, most PMDs require a standing riding position and are not easily accessible to elderly people or persons with disabilities. In this paper, the concept of an autonomously operating mobility device is introduced. The visionary concept is designed as an on-demand transportation service which transports people for short to medium distances and increases the accessibility to public transport. The device is envisioned to be operated as a larger fleet and does not belong to an individual person. The vehicle features an electric powertrain and a one-axle self-balancing design with a small footprint. It provides one seat for a passenger and a tilt mechanism that is designed to improve the ride comfort and safety at horizontal curves. An affordable 3D-camera system is used for autonomous localization and navigation. For the evaluation and demonstration of the concept, a functional prototype is implemented.
ISSN: 2032-6653
DOI: 10.3390/wevj9040048
Schools: School of Mechanical and Aerospace Engineering 
School of Art, Design and Media 
Organisations: Technical University of Munich (TUM)
Rights: © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (
Fulltext Permission: open
Fulltext Availability: With Fulltext
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