Analyzing Model of Flexible Two-wheel Upright Self-balance Humanoid Robot

This research uses prings to imitate humanoid lumbar spine of a robot, and analyzes the problem of lumbar spine of flexibility of the botot.A simplified model is obtained, which is linearized and its equations of state are established.The simplified dynamic model is obtained by design and its structure is simple, and controlling of the model is easy and effective.Validity of the system modeling is proved through the mathematics' method.