Beijing University of Technology

Jianxian Cai

Honggui Han

Naigong Yu

Xiaogang Ruan

Jianwei Zhao

Xinyuan Li

Hongge Ren

A flexible two-wheeled self-balancing robot system and its motion control method include a main controller, a motion controller, an assistant controller, two servo drivers, sensors, input/output devices, two DC motorsand a power supply system; a camera is installed on truck's top board, a tilt-meter and a gyro are installed both in truckand chassis. Truckand chassisare connected with an elastic joint in which is installed a two-arm torsion spring and a cylindrical spring; the main controlleris connected to the motion controller, the assistant controllerand input/output devices. The user commands received by the main controllerare immediate commands or stored commands; through main controllerrunning the motion behavior decision algorithm, the motion controllerrunning the motion balancing control algorithm, and the servo drivescontrolling the torques of the motors, locomotion on plane and remote control of the robot can be implemented.

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Beijing, China

Jianxian Cai