本論文主要是設計與控制一個兩輪機器人，在建構這兩輪機器人的系統中，採取DSP 2812為核心，整合了包括伺服馬達控制、外部電路訊號擷取、無線模組訊號接收、數位濾波器以及模糊控制演算法..等等，在控制上，主要採取車身感測器傾斜器與陀螺儀的資訊來控制車身的平衡，並利用電子指南針來補助車身方位的修正，接著採用馬達編碼器所回授的資訊得知車身目前位置與速度。最後利用這些資訊的整合設計模糊前進控制器、車身停止控制器、與車身轉彎控制器，藉由遙控器所下達的指令來控制車身前進、後退、轉彎、行進間轉彎、車身停止..等行動控制。在車身維持工作的這段期間，利用無線數據機把車身所有資訊回傳至電腦端，藉由電腦端可監控兩輪機器人目前整體狀態，並可從電腦端下達控制指令來達到兩輪機器人的行動控制。
兩輪機器人是由兩位同學一起合作完成，分別為(A) 兩輪機器人的基本控制，主要是實現兩輪機器人的車身平衡控制、兩輪同步控制與車身定位控制；以及(B) 兩輪機器人的行動控制，主要是實現兩輪機器人的前進、後退、車身停止與車身轉彎..等動作。而本論文乃針對（B）項做研究。

The goal in this thesis is to design and control a self-balance two-wheel robot, DSP F2812 is the control center of the two-wheel-robot system, which includes fuzzy control algorithm, motor servo control, A/D converter, analog filter, digital filter, and wireless modem etc. In control, the sensors tilt and gyro are used to measure inclination angle and angle velocity of the robot and the compass is used to know direction .Finally, We use encoder to measure velocity and angle velocity of the motors of robot. Then the robot’s motions self-balance, going forward and backward, and making a turn are controlled by the designed fuzzy control algorithm in DSP. All control signals are transmitted via wireless modem.

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