In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.

1. 서 론 
2. 밸런싱 로봇휠체어 차체 설계
3. 구동부 설계
4. 탑승 모듈 설계
5. 시스템 통합 및 주행 실험
6. 결 론

• 유재림(School of Aerospace and Mechanical Engineering, Korea Aerospace University) | Jaerim Yu
• 박윤수(School of Aerospace and Mechanical Engineering, Korea Aerospace University) | Yunsu Park
• 김상태(School of Aerospace and Mechanical Engineering, Korea Aerospace University) | Sangtae Kim
• 권상주(School of Aerospace and Mechanical Engineering,Korea Aerospace University) | SangJoo Kwon Corresponding author