Abstract
In the past decade, there have been a lot of researches on various models and controllers for two-wheeled inverted pendulum-type mobile robots. Two-wheeled inverted pendulum-type mobile robots are suitable for the service robots working both in the indoor and outdoor environments. In this paper, a bistable two-wheeled mobile robot which can tilt up and down (B-TMR) is designed and implemented. The B-TMR remedies the weak points of two-wheeled inverted pendulum-type mobile robots. The robot body is designed to maintain balancing state and tilted state. Cost efficiency is improved by using a single accelerometer with a Butterworth filter in order to measure inclined angle. To control five motion modes (Mode 1—Balancing; Mode 2—Tilt Up; Mode 3—Tilt Down; Mode 4—Tilted Move; Mode 5 - Balancing Move), a mode-selective controller is proposed. Through various experiments, the proposed hardware and controller are validated.
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