The stream of Robotics and Artificial Intelligence (AI) hasbeen becoming an integral part in human life. Existing robotsreveals a vast diversity in structural shapes, materials fordeveloping variety of components and modes of mobility. However,most of the robots have one thing in common, they are passivelybalanced (a state of stable equilibrium).
As we consider two-wheel robots, their system is unstable.These two-wheel robots are called as “Two-Wheels Self-BalancingRobots (TWSBR)†which describes a robot that can balance by itselfand prevent from falling. It can prevent falling when it is in rest(standing vertically), during motion
and under a limited external force. These robots alsoclassified under category of ‘mobile robots’ since its motiondepends on wheels. In order to develop a TWSBR, a control systemwhich has the capability of stabilizing an unstable system isrequired. The function and structural development of this controlsystem is based on the classic problem in dynamics and controltheory called as “Inverted Pendulumâ€. Furthermore, it is the ideaof having a Pendulum with its center of mass being above its pivotpoint. This concept is used as a benchmark for testing controlstrategies. The control system consists of an Accelerometer(Arduino UNO R3) and a Gyro-meter (MPU 6050) to prevent the robotfrom falling.
Apart from the complexity of the design, two-wheelself-balancing mechanism has a great advantage in maneuverability.Since the maneuverability of TWSBR depends on two wheels, itreduces the turning radius of the robot to zero. This provides agreat advantage over three or four wheels robots when turning intight corners. TWSBR can rotate around its own axis, change thedirection and avoid or change the direction in tight cornersrapidly than three or four-wheel robots. Due to these advantages,TWSBRs can be useful in certain applications. These robots can beused in hazardous environments to reduce the human exposure tohazardous materials, surveillance security and mobility of elderpeople or people with disabilities. Segway Inc. had become asuccessful developer in manufacturing TWSBRs which are helpful forelderly people and people with disabilities.
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