Two wheeled self balancing platform is believed to be the best robot design platform which is able to make flexible movements among human environment [1]. Many industries or research centre have conducted many research of using this method as their humanoid robot platform [2]. Due to its flexibility, this two wheeled platform also to be tried in several human transporter applications.

Balancing platform is not an easy structure. More over, the balancing process will have more uncertainty disturbances if this platform is used to bear such dynamic mechanism such like robot’s body or a human passenger. The only available self balancing human transporter in the market is still very expensive because the system uses complex and high sophisticated components [3]. Therefore, a study to develop a simpler balancing platform which uses less complicated system without loosing its advantages platform needs to be conducted.

The scope of this thesis is to develop the hardware and software for a two wheeled balancing scooter so the scooter can stay in upright position and the rider can command the scooter to move in any desired direction.

Therefore, the scope and limitation of this thesis will cover the following issues:

1.3.1. There is no close loop speed synchronizing between the two wheels. PWM calibration will be done to get the open loop constant to synchronous the wheels.

1.3.2. Redundancy system is not applied in this system.

1.3.3. There is no adaptive gain for a large range of passenger weight. This system is set for 50-70 kilograms load. However, the gain still can be adjusted manually to bear a different load below 80 kgs.

1.3.4. Due to the specification of the wheel diameter, motor maximum speed and the gear box ratio being used, the maximum speed is limited to 7 MPH.

1.3.5. Due to the limitation of the DC motor driver circuit, the scooter is suggested to be used in smooth road, not in the mud, high grass, or passing a steep ramp or speed bump. Otherwise the DC motor driver circuit can not bear the current being drawn by the motor.

As mentioned before in section I.2., developing a two wheeled balancing scooter with a lower cost is the main effort in this research. By optimizing the design, components will be used can be selected efficiently. Further more, mechatronic designed system can optimize the functionality of the components being used by overcoming each drawbacks of the mechanic, electronic and the software part.

This design will face some problems like: if the angle is getting so big then it will arrive in situation when the motor and the wheels cannot keep up. The system should be able to handle this sort of situation. Secondly, when the system tries to balance its position it needs to move the wheels just the right amount toward the angle. Too much signal will bring the system to far and then it will happen again in the opposite direction until the system oscillate wildly. It needs to be tuned correctly to get the right amount balancing effort without getting oscillates. Lastly, some mechanical backlash will give such a noise to the control signal. Optimizing the mechanic and software part should be applied carefully.

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