The Design of Two-Wheeled Robotic Self-Balancing Walking Control System
Abstract— Research on mobile robots has become a popular field in robot research because of the broad
application prospects of mobile robots in all walks of life. Considering the complicated designs and high
prices of the Humanoid robots’ different DoF (Degree of Freedom), a two-wheeled robotic self-balancing
walking control system is designed in the paper. The system uses the microcontroller as the control core, the
attitude sensor to collect the angular velocity and acceleration data, and the Kalman filter to perform data
fusion to obtain the optimal inclination and to realize the tilt control. It also uses the encoder to measure the
walking speed to realize the speed control in the front and rear direction. The steering control of the robot is
realized by the rotational difference between the two motors. The experiment proves that the two-wheeled
robot can walk upright and keep balance, and has the advantages of simple structure, convenient parameter
adjustment and low cost.
Index Terms— Two-wheeled robot, tilt control, speed control, steering control.
Lingling Zhong, Kang Liu
1School of Electronic and Communication Engineering, Anhui Xinhua University, CHINA
School of Information Engineering, Anhui Xinhua University, CHINA
Cite: Lingling Zhong, Teng Lv, Kang Liu, "The Design of Two-Wheeled Robotic Self-Balancing Walking Control System," Proceedings of 2019 the 9th International Workshop on Computer Science and Engineering, pp. 874-878, Hong Kong, 15-17 June, 2019.