This thesis discusses the processes developed and
considerations involved in balancing a two-wheeled
autonomous robot based on the inverted pendulum
model. The work was conducted in collaboration with
the Centre for Intelligent Information Processing
Systems (CIIPS) and the School of Mechanical
Engineering.
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Building a Balancing Robot with the IntelliBrain™
Building a Balancing Robot with the IntelliBrain™
Robotics Controller and Lego® BricksThe balancing robot shown above is a highly unstable two
wheeled robot. The largest mass, the battery pack, is
positioned above the axle, making the robot an
inverted pendulum. The robot will naturally tend to tip over,
and, the further it tips, the stronger the force causing it to tip
wheeled robot. The largest mass, the battery pack, is
positioned above the axle, making the robot an
inverted pendulum. The robot will naturally tend to tip over,
and, the further it tips, the stronger the force causing it to tip
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Self-Balancing Robot
Abstract
This project will undertake the construction and implementation
of a two-wheeled robot that is capable of balancing itself. The
structural, mechanical, and electronic components of the bot
will be assembled in a manner that produces an inherently
unstable platform that is highly susceptible to tipping in one axis.
The wheels of the robot are capable of independent rotation in
two directions, each driven by a servo motor. Information about
the angle of the device relative to the ground (i.e. tilt) will be
obtained from sensors on the device. The precise type of sensor
that will be used is yet to be specified. The tilt sensor may be
Self-Balancing Robot
Abstract
This project will undertake the construction and implementation
of a two-wheeled robot that is capable of balancing itself. The
structural, mechanical, and electronic components of the bot
will be assembled in a manner that produces an inherently
unstable platform that is highly susceptible to tipping in one axis.
The wheels of the robot are capable of independent rotation in
two directions, each driven by a servo motor. Information about
the angle of the device relative to the ground (i.e. tilt) will be
obtained from sensors on the device. The precise type of sensor
that will be used is yet to be specified. The tilt sensor may be
an accelerometer, gyroscopic sensor, or IR sensor (to measure
distance to the ground). Information from the sensors will be fed
back to the Z8, which will process the feedback using a crude
proportional, integral, derivative (PID) algorithm to generate
compensating position control signals to the servo motors in
order to balance the device.
distance to the ground). Information from the sensors will be fed
back to the Z8, which will process the feedback using a crude
proportional, integral, derivative (PID) algorithm to generate
compensating position control signals to the servo motors in
order to balance the device.
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The Embodiment Design of a Two-Wheeled
Self-Balancing Robot
Abstract.
The embodiment design of a two-wheeled selfbalancing
human augmentation robot for the mobility-challenged
is reported. The prototype relies on a dead-reckoning multisensor
system consisting of i) two optical incremental encoders
and ii) a solid-state tilt sensor. The command inputs are provided
to the robot controller, which is based on PC/104 technology, by
means of a RF control unit. After describing the research motivation
and application of the system, a set of robot design solutions
is outlined along with technical discussions on component layout,
payload holder and chassis design issues. A few simulation results
on the motion control performance are included as well
