Two Wheel Self-Balancing Human Carrier

The objective of this research is to examine the characteristics of two wheel self-balancing robot. This electric vehicle, based on the model of Segway, works on the principles of inverted pendulum. The rider will lean in the direction it wants the vehicle to move. This paper presents the design, fabrication and control system of two wheel self-balancing human carrier that measures the angle of the platform using accelerometer and gyroscope and drives the motors through motor drivers.