Research　on　the　structure　of　the　Dual-wheel　upright　self-balance　Robot　is　conducted　and　the　mathematical　model　is　built　up.　The　simulation　and　real　experiments　of　robot　were　done.　On　the　basis　of　building　up　the　system　structure　model,　the　mathematical　model　is　built　up　using　dynamics　mechanics　theory　and　method.　The　linear　quadratic　regulator　(LQR)　is　designed　on　Matlab,　the　system　has　good　robustness.　Validity　and　rationality　of　the　system　modeling　and　the　designed　controller　are　verified　through　the　performance　experiments　of　the　prototype.　Two　wheels　of　the　mobile　robot　were　coaxial　and　driven　independently.　The　centre　of　robot＇s　gravity　locates　above　wheel　axle.　The　robot　can　walk　upright　and　keep　balance　by　moving.　Because　of　its　special　structure,　it　has　strong　ability　to　adapt　ground　condition　and　movement　agility,　and　can　do　some　complex　working　environments.　The　reliable　experiment　platforms　of　Autonomous　controlling　and　self-learning　of　robot　are　presented.