This two-wheeled self-balancing robot with two swerve modules allows 360 degree rotation for the driving wheels, making it capable of omni-directional movement (in theory). The two wheels can rotate in its yaw axis to change the configuration of the robot. Typical ones are the bicycle configuration and normal two wheel balancing configuration. My current research is on developing a full order model to describe the complex motion to eventually achieve balance control under all configurations.

Bicycle Configuration Verified

Using Four Swerve Chassis with Two Swerve Modules Detached