Dynamic response characteristics of a two-wheeled inverted-pendulum transporter

Two-wheeled inverted pendulums can be used as personal transporters. Their maneuverability and small footprint give them desirable properties for this application. However, they are intrinsically unstable and their dynamic response can be significantly different depending on what type of person is riding the transporter. Therefore, the feedback controller that stabilizes the machine must be robust to these dynamic variations. In this paper, dynamic characteristics of a Segway i2 are investigated. The variation in the dynamic properties as a function of the rider parameters of weight and center of mass height is reported. It is shown that the pitching frequency changes significantly as a function of rider weight and center of mass height.