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WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

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A Unified Control Framework for Self-Balancing Robots: Addressing Model Variations in Wheel-Legged Platforms and

Guiyang Xin^1,2, Boyu Jin³, Chen Liu⁴

¹State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.

Sensors (Basel, Switzerland)

|December 11, 2025

Summary

This summary is machine-generated.

This study scaled small self-balancing robots into a larger, human-carrying version. The unified control framework ensures stability and agility for personal transport applications.

Keywords:

LQR self-balancing robots wheel-legged robots

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Area of Science:

Robotics
Control Systems Engineering

Background:

Self-balancing robots offer high agility due to their compact design.
Existing small wheel-legged robots show potential but scaling them for personal transport is more impactful.

Purpose of the Study:

To develop a small self-balancing robot and scale it up into a larger, human-carrying self-balancing wheelchair.
To apply a unified control framework to both robot versions for balance and steering.

Main Methods:

A unified control framework using online model-updating Linear Quadratic Regulator (LQR) for balance and Proportional-Derivative (PD) for steering.
Platform-specific modules, including a dedicated leg controller for dynamic maneuvers on the smaller robot.

Main Results:

The unified control framework was successfully applied to both the small and large self-balancing robots.
The LQR controller ensured balance, while platform-specific modules enabled advanced maneuvers like jumping on the smaller robot.

Conclusions:

The developed control systems are effective for both small and large self-balancing robots.
The scaled-up robot demonstrates potential as a self-balancing wheelchair for personal transport.