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Slip-Induced Fall Suppression During Cornering for a Remotely Operated Motorcycle with a Rear-Wheel-Swing Mechanism

2026-10-15 01:43:49
Tadashi Sumioka, Kazushi Akimoto, Takuya Tsujimura, Sho Takayanagi, Kineo Tomura
arXiv_RO
       
Abstract

Slip-induced falls when riding motorcycles are difficult to avoid even for expert riders and represent a major cause of single-vehicle accidents. Despite their prevalence, no practical solution has yet been proposed to suppress this phenomenon. We previously introduced a motorcycle model applicable to systems with both front- and rear- wheel steering. In this paper, we extend that model and formulate the suppression of slip-induced falls as an optimization problem that distributes assistive control inputs according to vehicle speed and road surface conditions. To evaluate the proposed method, we developed a remotely operated motorcycle and conducted experiments under two scenarios: slalom driving on a low-friction surface at 5.5 m/s, and turning maneuvers on synthetic ice to simulate driving over manholes on rainy days. The results demonstrate that our approach successfully suppresses falls under these challenging conditions.

Abstract (translated)

URL

https://arxiv.org/abs/2610.21089

PDF

https://arxiv.org/pdf/2610.21089.pdf

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