### Segway Robot (Two-Wheeled Robot)

Note: Segway Robot project was done during the years 2011 - 2013 when Madi was a Master's student. Study on two-wheeled robots started in late 1990 in different robotic labs in different countries. The main objective is to design a balanced two-wheeled robot that has human-like abilities. The main research challenge in these robots is the inherent instability of their dynamical system. These robots can be used as autonomous vehicles in companies, factories, or just to transport people. Mechanical Design of Segway Robot Actuator Modeling According to Kirchhoff law: $V_a - Ri - L\frac{di}{dt} - V_e = 0$ Newton's Law…