  Two-wheeled inverted pendulum robots are designed for self-balancing and they
have remarkable advantages. In this paper, a new configuration and consequently
dynamic model of one specific robot is presented and its dynamic behavior is
analyzed. In this model, two cantilever beams are on the two-wheeled base and
they are excited by voltages to the attached piezoelectric actuators. The
mathematical model of this system is obtained using the extended Hamilton's
Principle. The results show that the governing equations of motion are highly
nonlinear and contain several coupled terms. These complex equations are solved
numerically and the natural frequencies of the system are extracted. The system
is then simulated in both lateral and horizontal plan movements. This paper
proposes a new model of two-wheeled two-flexible-beam inverted pendulum Robot
and investigates its complex dynamic; however, the derived equations will be
validated experimentally and a suitable control strategy will be applied to the
system to make it fully automated and more applicable in the future works.
