Contents I. Introduction
There are many research and studies that have been done on the balancing robot, but there are not so many studies on the human transporter. Although both human transporter and balancing robot use the same approach as the inverted pendulum (as shown in Figure 1), but the balancing robot is not built to support the heavy load like a human weight. The human transporter is a big robot that man can ride on. The problem is that humans do not have the same weight. Humans can have so many differences in weight from one man to another. This will cause problems to the human transporter in maintaining its stability.
