Yuxi Liu
2023 active

Swerve-Drive Two-Wheeled Self-Balancing Robot

An ongoing two-wheeled self-balancing robot concept with two swerve modules for omnidirectional movement.

self-balancingswerve drivemodelingresearch

Ongoing

Swerve-Drive Two-Wheeled Self-Balancing Robot

This two-wheeled self-balancing robot with two swerve modules allows 360-degree rotation for the driving wheels, making it capable of omnidirectional movement in theory. The two wheels can rotate around their yaw axes to change the configuration of the robot. Typical configurations include the bicycle configuration and the normal two-wheel balancing configuration. My current research is focused on developing a full-order model to describe the complex motion and eventually achieve balance control under all configurations.

Demonstrations

  • 90 Degree Stand Up
  • Simulation Result with LQR Linearized at Only One Instance (Failed)
  • Bicycle Configuration Verified Using Four Swerve Chassis with Two Swerve Modules Detached
90 Degree Stand Up
Simulation Result with LQR Linearized at Only One Instance (Failed)
Bicycle Configuration Verified Using Four Swerve Chassis with Two Swerve Modules Detached