SOHO security with mini self‐balancing robots

To present the design and control of a low cost, two‐wheeled, self‐balancing robot for detecting and reporting fire and intruders in a small home/office setting.

Implement an intelligent control system to make up for instabilities of low‐cost components.

Biologically inspired suppression system can effectively eliminate undesired sensor noises.

Improving self‐balancing robots' tolerant to impulsive forces from the sides allows them to be designed with smaller front‐prints.

Inherited high maneuverability together with miniature design enables self‐balancing robots to navigate smoothly through tight space.

Demonstrates the control of a dynamically unstable system can be controlled using a simple suppression mechanism.