Abstract
In this paper, we propose a suspension system of two-wheel inverted pendulum mechanism that can traverse on an uneven floor. To absorb impact from a gap and improve roll stability, the two-wheel inverted pendulum is equipped with a hybrid suspension in which a spring and an actuator are serially linked. The hybrid suspension absorbs impact from the gap by spring and compensates unbalance of the upper body by the actuator. To minimize the roll angle of the upper body during going over the gap, the spring constant is optimized by mechanical simulation. We confirmed that EMIEW2 with the hybrid suspension goes over 15mm gap at 1.6m/s.
