为了达到使自行车机器人保持自平衡的目的，将车把转动角度、车体倾倒角度和后轮转动速度作为系统输出；

To keep bicycle self-balance, the steering angle, the roll-angle and the rear wheel velocity were taken as system outputs;

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驾驶者可以非常平稳的坐在驾驶舱内，驾驶时如同骑自行车一样踩踏转动链盘组合，使车轮与驾驶舱产生相对作用力从而使自平衡车移动。

The driver can sit in the chamber balanced like riding bicycle in driving to make it move by the relative forces through pedaling rotation link combination.

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