A Dynamic Model and Turning Strategy of a Laterally-Tiltable and Self-Balancing Two-Wheeled Robot

Abstract

This paper describes the development of a two-wheel balancing robot capable of actively changing its posture in the lateral direction to facilitate the turning motion. The work includes the development of a mechanism and the control strategy for both self-balancing and lateral motion control. The dynamic model of the robot was developed using the Lagrangian approach, and it was utilized as the plant of the motion controller. To validate the performance of the tiltable design and controller of the robot, the robot was experimentally evaluated, and its performance was compared to that of the robot without using the tiltable mechanism.