Two-Wheel Balancing Robot Foot Plate Control Using Series Elastic Actuator

Controlling foot plate on two-wheel balancing robot, system can compensate outer force and it makes system safer. Compared to a wide usage of personal mobility, it has large possibility of getting accident. So, system proposed in this paper attached Series Elastic Actuator (SEA) between robot body and foot plate to control foot plate and it can deal with several situations. The experiment conducts with 20 kg weight on the right side of footplate. The result of experiment shows that system can compensate the outer force. We expect that controlling foot plate can deal well with hard driving situations (uneven road drive, high speed curve drive, etc.).