In this project, a two-wheeled legged robot has been developed with the integration of an advanced controller to balance the robot when it changes height. A printed circuit board has been built to control both the balance and movement to a position. Wireless communication is used to collect control data for evaluating and observing the quality of the system. Simulation and experimental results have demonstrated the effectiveness of the developing system for transportation and load-carrying

Dynamics, Nonlinear Control, Balance Control, Wheel-Legged Robot, Wheeled Bipedal Robot

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