Stabilization of Inertia Wheel Inverted Pendulum Using FuzzyBased Hybrid Control It is known that the inertia wheel inverted pendulum (IWIP) is a nonlinear underactuated system. Since the unavoidable friction or unclear interference of the IWIP system, designing a controller for the IWIP is a challenging task. In this paper, a fuzzybased hybrid control (FBHC) is proposed to make the IWIP system can be stably balanced around the upright position. The FBHC system is comprised of a feedback linearization controller, a fuzzy logic controller and a speed compensated controller. The feedback linearization controller with a fuzzy logic controller can control the priority parameter at the nonactuated joint; however, it does not ensure the control of the inertia wheel speed. The speed compensated controller is designed to stabilize the speed of the inertia wheel once the body angle is stable. Thus, the IWIP system can be stably balanced around the upright position and the disk speed is gradually reduced. Finally, the experimental results are verified that the proposed FBHC can achieve a good dynamic balance effect for the IWIP system, even when there is an external force to push the IWIP system.

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.