Two-wheeled robot capable of steering and attitude control, and control method thereof

Steering and Attitude-Controlled Two-Wheeled Robot Maintaining Balance via Roll Angle Feedback PD Control

This technology is an autonomous two-wheeled robot that maintains its roll angle balance without auxiliary devices by independently controlling the front-wheel steering motor and rear-wheel drive motor based on feedback signals from speed and attitude sensors.

Due to their inherent structural instability, two-wheeled vehicles are difficult to balance during autonomous operation without auxiliary devices like gyroscopic wheels or counterweights, which often lead to increased power consumption and inefficiency.

This technology proposes a real-time steering angle control method using a PD controller that utilizes the frame's roll angle and its derivative as feedback, consisting of a feedforward compensator, a main error compensator, and a state feedback compensator. It can be applied to autonomous delivery robots and unmanned mobility platforms, allowing them to maintain dynamic equilibrium without auxiliary devices and significantly improving power efficiency.

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Key Features:

• A steering control motor installed on the handlebar axis connected to the front wheel to adjust the steering angle
• A drive control motor installed at the end of the rear-wheel axle to power the rear wheel
• A speed sensor for measuring rear-wheel velocity and an attitude sensor for measuring the frame's tilt
• A controller that receives signals from the speed and attitude sensors to manage both motors and maintain balance

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This invention was developed with support from the Future IT Convergence Research Institute under the Ministry of Science and ICT.