A SelfBalanced Essboardlike Mobile Robot xe2x80x93 Essbot With the rapid development of robotics technology, balance and motion control of specific unicycle and twowheeled vehicles have become achievable, and wheeled selfbalanced mobile robots can be developed. Essboard is a wheeled vehicle, having different instability from an ordinary twowheeled vehicle because of its two wheels that are arranged at the front and rear side. However, there is still a lack of relevant research on its balance control, so at present, it cannot be developed into a selfbalanced twowheeled mobile robot. In order to solve this problem, in this paper, a design concept of developing the Essboard into a twowheel selfbalanced robot Essbot by decomposing its motion is proposed for the first time. Besides, we develop and fabricate the Essbot, and propose its balance and motion control methods. Furthermore, the correctness and effectiveness of the designed Essbot and the proposed balance and motion control methods are verified by virtual prototype technology. Finally, the influence of different control laws on the Essbotxe2x80x99s motion is studied for the first time. The research results in this paper represent significant progress in the field of wheeled selfbalanced robot and Essboard, and this is the first realization of the development of Essboard into a new type of twowheeled selfbalanced mobile robot.

System Design and Balance Control of a Bipedal Legwheeled Robot The combination of wheels and humanoid robots is a promising way to improve the performance of bipedal robots in agility, moving speed, and energy efficiency. This combination enables the robot to move faster on flat ground, which can effectively improve the adaptability of the biped robot in application scenarios such as logistic distribution, inspection and home services. This paper introduces a 6DOF bipedal legwheeled robot SR600, which has two actuated wheels at the end of the robot shanks, and achieves its balance and locomotion through wheeldriven approach. SR600 is mainly composed of five parts: a waist, two thighs, and two shanks with wheels. It is modeled as a variablestructure wheeled inverted pendulum and we derived its kinematics model based on the center of gravity constraint. Control strategies for balance and locomotion of SR600 are handled by proportional integral differential (PID) controllers. Finally, several practical experiments are conducted to validate the feasibility of the robot mechatronic system and the balance control strategies.