Steady-State Motion of a Balancing Robot with Two Coaxial Deformable Wheels

At present, the theory of wheeled robotic systems is being actively developed. In modeling motion robots, one mostly uses classical nonholonomic model, which does not take into account slip deformable wheels. Meanwhile, for robots with wheels, models can be inadequate design and analysis control algorithms. This case statically unstable balancing coaxial similar in such vehicles as Segway. Thus, a two-wheeled robot taking possibility wheels applicability simplified are interest. Such used to develop new algorithms active maneuvering, preliminary estimates robustness designed using approximate models. paper focuses on analyzing their steady-state motion, possibilities stabilization. It shown that body has forward pitch. pitch found most