Segway Segway Segway Segway Segway Segway Segway Abstract:- Segway Robotic Mobility Platform (RMP) is a new mobile robotic platform based on the self-balancing Segway. Human Transporter, Segway RMP is faster, cheaper, and more agile than existing comparable platforms. It has a zero turning radius, and yet can carry a greater payload. Segway Robotic Mobility Platform, Segway RMP, Dynamic self-balancing robot, 100% eco-friendly, Easy to use Keywords: Introduction:- It is capable of high speed (~13 km/h) indoor and outdoor operation capable of turning in place, affords a human-height sensor point of view, and has a payload capacity of up to a hundred kilograms. The Segway RMP can travel on the order of 15 km between recharges from any standard AC outlet. The Segway RMP is a hardware component that has been developed under a program whose objectives focus on the development of software: the Defence Advanced Research Projects Agency (DARPA) Mobile Autonomous Robot Software (MARS) program. Traditional platforms for mobile robot research have been limited in terms of both payload capacity and mobility characteristics, including speed. In August 2002, SSC San Diego placed a purchase request with Segway LLCfor 18 Segway HTs and supporting user training. The platforms were received in November 2002 and the user training was supplied on-site by Segway LLC for government personnel. The idea was that researchers who would work with RMPs should be familiar with the characteristics of the platform from which they were derived. In January 2003, Segway LLC was awarded a contract to develop hardware kits to convert the HTs into RMPs, and the associated operating software. In April 2003, Segway LLC demonstrated the RMP at the MARS Program Review Meeting in San Diego. This was the first opportunity for the researchers to experience the unique characteristics of the RMP and to begin to brainstorm about the ways that their sensors and other robotic hardware could be used with this new platform. Gyroscope It senses the change of axis Replacement for magnetic compass Change in axis causes nutation which senses magnitude and dimensional change. A strobe light will monitor the spin velocity and and keeps it under same flow. Definition: - Rigid rotating body symmetric about one and only one axis Basic block Diagram wheels Gyroscope Left Motor Right Motor Step down gear Micro controllers Power assembly Controlling Feed Back principle will be utilized to self balance the Segway Due to lack of precision in LQR devices alone, it must be matched to mass properties of RMP via feed back circuit. Segway will move in the direction of motion of Center of gravity of rider. To turn the device a manual control that Provides extra current to required wheel Will do. Advantages &Disadvantages Increase mobility for disability & helps in walking long distances. Mobile robots or distance robots has put Segway into great use. Without knowing how to balance 2 wheeled vehicle. Can help like:- It can carry up to 100 kg of weight in terrain and 30 o slope. It is 48% more safer than any other two wheeled vehicle. A clean eco-friendly machine(zero emission) Disadvantages:- Only 15 km can travel if once charged, not recommended for long distance. Slow has maximum speed 12.5 mph. Takes long time to charge Circuit board must kept moister free or else it misbehave result in accidents. Expensive, which costs over $3000 to $5000. Also induces some long term health issues. Conclusion:- We are witnessing the dawn of a new robotic mobility platform. Based on the commercially available Segway Human Transporter, the Segway RMP has introduced new perspectives in robotic sensing, manipulation, and mobility. Its human height, size, agility, and ability to host people-height payloads make it ideal for humanoid and robot-human interaction research, while its ruggedness, speed, weight-carrying capacity, and price make it attractive as a general-purpose out door robotic platform. We have summarized here the work at twelve research institutions using the platform.