Research of Dynamic Model and Control Ling of Flexible Two-Wheel Upright Self-balance Humanoid Robot

Abstract

The dynamic modeling problems of flexible two-wheel upright self-balance humanoid robot are researched. A dynamic modeling is obtained by the Lagrange equation and dynamics mechanics theory. Using springs imitate human lumbar spine, considering the lumbar spine of the flexible robot, which has an actual length without being treated as an approximate point. All these are different from previous robots. The quality of upper and lower base is cancelled. The dynamic model is linearized and its spatial equations of state are established. The simplified dynamic model is obtained by designing its structure in simple ways, in this way. It is convenient to control the robot. The state feedback controller(LQR) with good robustness is designed on Matlab. The stability of systems is proved by the experimental results. Validity and rationality of the system modeling and the controller designing are verified through the performance experiments of the prototype. The research also supplies theoretical instructions for developing the dynamic control system in the flexible two-wheel upright self-balance humanoid robot. It has great significance in design and research for the humanoid robots.