Development of a two-wheeled mobile tilting & balancing (MTB) robot

Two wheeled mobile balancing robot is a kind of under-actuation system that can maintain its posture and drive the robot with only two wheels. In order to overcome the limitation in turning velocity due to the centrifugal force effect, this paper proposes a tilting balancing mechanism which is to offset the centrifugal force by active tilting motions. The newly suggested two-wheeled mobile tilting and balancing robot (MTB) can prevent unnecessary slowdowns in turning motions and increase passenger's riding feelings. To validate the tilting effect, the equation of motion of the MTB robot is derived and analyzed and the hardware design is followed.