Abstract：A prototype of two-wheeled robot capable of achieving dynamic balance and carrying person is developed. Operation principle and mechanism structure of the robot are introduced,and its dynamic motion characteristics are analyzed. An open control system is designed,and a triple-loop control strategy,which includes current loop,velocity loop and position loop,is proposed.The robot is characterized by small size of volume,compact structure and reliable security.Experiment results show that the proposed robot has the ability to carry person,and can achieve the dynamic balance control of the robot effectively.
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