Design and Testing of Two-Wheeled Self-Balancing Robot

Abstract

The research on a two-wheeled inverted pendulum, which commonly known as the self-balancing robot, has attained momentum over the last decade in many robotic laboratories. The self-balancing mobile robot works on the principle of an inverted pendulum which is also, called Tilter. The robot is inherently unstable and without remote control it would roll around the wheels' rotation axis and eventually fall. Driving the motors in proper direction brings the robot to the upright position. Although the robot is inherently unstable, it has several limitation. The static stability of two-wheeled over multi-wheeled robot because it has only two wheels (two points touching the ground), it requires less space. Kinematic and dynamic models constructed. This project is successful in overcoming and achieving its aims to balance a two-wheeled autonomous robot based on the inverted pendulum model.