This study addresses the attitude angle estimation and the vibration control problems for a self-righting mobile robot in order to guarantee the safety and reliability as the service robot. The proposed mobile robot is the two wheeled inverted pendulum type mobile robot with self-righting mechanism. In the moving on the slope and the bump of road, the incline and falling down are the subject specific to the self-righting mobile robot. The method of the attitude angle estimation with the fusion of an accelerometer and a gyroscope by adopting the state observer with the feedthrough term proposed in this paper. The theoretical and experimental results indicated the effectiveness of the proposed method for the attitude angle vibration control of the self-righting type mobile robot.
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