Two types of coaxial self-balancing robots

Two types of coaxial self-balancing robots (CSBR) were proposed, one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas, and the other can be used as a personal transporter ridden in cities. Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots. A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors, respectively. The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg. Furthermore, the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.