Design and Implementation of a Novel Two-Wheeled Composite Self-Balancing Robot for Stationary Operations in Unknown Terrain

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Abstract
A two-wheeled self-balancing robot (TWSBR), also widely known as a segway, achieves stability and mobility by dynamically controlling its two base-mounted wheels. While this design provides exceptional flexibility and maneuverability, it presents challenges in maintaining static equilibrium and effective braking, particularly on inclined surfaces. This paper proposes a two-wheeled composite self-balancing robot (TWCSBR) incorporating an additional reaction force mechanism to enhance the static stability of TWSBRs, as well as their walking stability and braking performance on unknow inclined surfaces. For robotic control, an adaptive control framework is developed in this paper to achieve real-time balance and motion control by dynamically adjusting the weight distribution between two balancing strategies. This paper completes the design and construction of the robotic system, followed by six experiments to evaluate the performance of TWCSBR. These experiments assess its static balance capability, robustness against impact loads, braking performance, stable climbing on slopes, adaptability to varying inclines, and ability to traverse complex terrains. The research findings demonstrate that the TWCSBR retains the advantages of high maneuverability and a small turning radius inherent to classic TWSBRs. Additionally, it exhibits enhanced static balance and emergency braking capabilities. Furthermore, the robot can stably traverse slopes up to 29° and adapt effectively to unknown inclines. These results lead to the conclusion that the proposed TWCSBR significantly enhances the robot's maneuverability and safety, thereby broadening the potential applications of two-wheeled robots in novel environments. In addition, this study can also be applied to bipedal wheel-legged robots.

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