Design and Dynamic Characteristics of a Two-Legged Wheeled Self-Balancing Robot Platform

Dynamic robots capable of navigating confined and unpredictable environments are increasingly needed in industrial applications. This study aimed to design and evaluate a two-legged wheeled self-balancing robot platform to achieve stable and efficient motion in narrow and dynamic settings. The robot was built using an Arduino Mega 2560 microcontroller, MPU6050 IMU sensor, TD8129MG servo motors, and LN298N motor drivers, with balance maintained by a proportional-integral-derivative (PID) controller. Static stability tests confirmed reliable balance at a -2.00° pitch angle with optimized PID gains of K p = 120, K i = 0.1, and K d = 150. Dynamic experiments under duty cycles of 59%, 78%, and 98% showed that the 78% configuration provided the optimal compromise, enabling smooth motion at 0.23 m/s with minimal oscillations, while lower duty cycles caused instability and higher cycles introduced excessive vibrations. These results demonstrate that the developed robot effectively balances speed and stability, offering a compact and maneuverable solution for industrial tasks in constrained spaces. The study concludes that this platform provides a strong foundation for practical applications, with future work directed toward advanced control strategies and autonomous navigation to enhance adaptability and energy efficiency in real-world environments.