Mechanical Design and Dynamic Modeling of a Two-Wheeled Inverted Pendulum Mobile Robot

The differential drive two-wheeled inverted pendulum mobile robot has advantage of high maneuverability on slopes and in narrow spaces. It can be used to carry human beings as well as other goods. This paper mainly discusses mechanical design and dynamic modeling of this type of mobile robot platform. The first prototype is 12 kg of weight with dimensions of 42x36x15 cm. A multi modal control system is developed which includes the human transport control system and goods transport control system mode. An embedded control system is implemented to control two motors for both modes. In human transport mode the master controller receives the data from the data conditioning module and generates the reference for PID controllers whereas in goods transport mode the master controller receives command from the teleoperator. The effectiveness of the developed mobile robot is confirmed by experiments such as climbing slope, pivot around and surpassing small obstacles.