Flexible Two-wheeled Self-Balancing Mobile Robot

The dynamic model of flexible two-wheeled self-balancing robot is obtained on the Lagrange equation and dynamics mechanics theory. Use springs to imitate human lumbar spine. The linear model can be got, state-space equations are established yet and the robot is controlled easily and effectively. Validity and rationality of the system model and the designed controller are verified through the performance experiments of the prototype too then the real robot has been done. The improved Boltzmann machine is used for controlling robot's posture based on study.