A Comparative Study of Control Moment Gyro for Improved Performance in Two-Wheel Robot

Two-wheel inverted pendulum robots are widely used in mobile robotics due to their agility and maneuverability. Conventional two-wheel robots achieve balance by continuously adjusting wheel motion, which affects locomotion and deviates the robot from the desired state due to the inherent coupling between balance and locomotion. In this paper, a scissor-pair Control Moment Gyro (CMG) is mounted on the conventional model, introducing the CMG-based robot. The CMG model is divided into two subsystems: balance and locomotion. The locomotion subsystem enables direct and independent speed control without interfering with balance, while the balance subsystem fully achieves stability using internal torque generated by the CMG. A comparative analysis is presented to demonstrate the effectiveness of using CMG stabilization over conventional methods, highlighting its advantages in precision, stability, and motion control. The results indicate that the CMG model significantly enhances two-wheel robot performance in dynamic environments.