The Design and Research of a Self-Balancing Performance Robot

A self-balancing performance robot is designed by using of the principles associated with conservation of torque and angular momentum, which can complete the movement performance forms of traditional tilting doll by controlling the robot’s swinging angle and body movements accurately, and the performance elements are more abundant. There are two parts which include chassis and limb in the design of robot structure. The chassis design adopts the principle of variable center of mass produced by four momentum wheels rotating which can form vectors. Therefore, the robot achieves the control of chassis at any angle and speed. The limb design uses three sets of servo motors to achieve dance movements within three degree of freedom. When the system works, the master control unit controls the brushless motor to drive the momentum wheel to rotate, and the robot chassis starts to rotate, the attitude acquisition module obtains the rotation angle and Euler angle in real time, which uses the improved Kalman filter algorithm to data filtering and angle calculation, and uses the cascade Proportional-IntegralDerivative (PID) to realise the control of speed and angle of chassis. Finally the robot realises the system’s electronic control balance. The experiment shows that performance robot works intelligently and safely, which has numerous advantages, such as high control precision, extensive features, easy operation. By combining traditional cultural elements and intelligent control technology, the robot has high promotion value.