Mehrshad Kahrizposhteh - Master of Electronic Engineering Kashan University Arak, Iran
Mahdiye Asadi - Bachelor of Electronic Engineering Tafresh University Arak, Iran

The two-wheeled balancing robot are highlyregarded to these days for removing the wheels arefreewheeling and reducing friction. Therefore, at first in thisarticle we intend to introduce, the mechanical structure, theelectronic and the controller of the robot, also then thedisadvantages and problems of using Dc and proportionalintegral motors, in the construction of these robots arediscussed. Finally, the use of brushless motors, stepper motorand also the controller of the robot mode is proposed andinvestigated.

component; Two-wheeled balancing robot , Proportional integral controller , DC motors , Manufacturingflaws, Consolidated Filter, Complementary Filter, Gyroscope, Accelerometer