Research of Dynamic Model of Flexible Two-Wheel Upright Self-Balance Humanoid Robot

The dynamic modeling problem for flexible two-wheel upright self-balance humanoid robot is researched for the first time. A dynamic model is obtained based on the Lagange equation and dynamics mechanics theory. Using spring imitates hominal lumbar spine for the first time. Considering the lumbar spine of flexible robot, which has an actual length without being treated as an approximate point. All these are different from previous robots. The quality of upper and lower base is summetrical. The simplified dynamic model is obtained by design and its structure is simple. Controlling is easy and effective. The research also supplied theoretic instructions for developing dynamic control system with flexible two-wheel upright self-balance humanoid robot. It has great significance to design and research for humanoid robot.