As a part of the mechatronics course, my colleagues and I have designed, fabricated, and controlled a self-balancing robot.
Project Definition:
In this project, a (statically unstable) 2-wheel vehicle is to be designed and built. The goal is to feedback the angular position of the structure to control the vehicle’s movements in such a way as to maintain the vehicle in the vertical position.
The robot is expected to maintain its nearly vertical posture while moving between 2 points nearly 3 meters apart. The robot should have a suitable locomotion system with enough power, enabling it to perform the above tasks in both forward and reverse motion. In other words the robot is expected to behave symmetrically in both forward and reverse direction.
