A Multi-DOF Two Wheeled Inverted Pendulum Robot Climbing on A Slope

Two wheeled inverted pendulum (TWIP) robot is widely used in various applications for its zero turning radius, small footprint and other advantages. However, the traditional TWIP robot can not keep upright when climbs or descends on a slope, which makes the operator sitting on the robot feel unsafe and uncomfortable. This paper introduces a Multi-DOF TWIP robot, which adding a movable weight to the standard TWIP robot. This robot can maintain the robot body upright when the robot climbs or descends a slope, also when accelerate or decelerate. The complex full dynamics model of the robot is derived from the Largrange's method, and then a simplified method is proposed. Controllers for balance and velocity control are designed separately based on the simplified model. Simulation and real experiment demonstrates that this method proposed in this paper is effective.