Analysis and Design of Dual-Wheel Upright Self-Balance Robot in Boe-Bot Robot Platform


In this paper, we try to realize a Dual -Wheel upright self-balance Robot which is supposed to the most simple and cheapest one that even the art students can make. The structure and mathematical modeling of a Dual-wheel upright self-balance Robot are studied. Also, the simulation and the real experiment of robot are done while the project has been realized by transforming Boe-Bot Robot Kit produced by parallax Inc. to an appropriate structure. The system is made up of a mobile two-wheel robot, a BS2 controller, a sonar sensor and two continuous rotation servos. As the PID controller, using optimal parameter generated by MATLAB simulation, has acceptable robust as well as a good balancing ability. The stability of system is proved by data collected by experiments.

  • Abstract
  • Keywords:
  • Introduction
  • The Structure System of Robot
  • Mathematical Modeling
  • Status Measurement
  • PID Controller Design
  • Summary
  • Real on-Line Experiments
  • Acknowledgments
  • References

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