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PD-controlled Inverted Pendulum Robot

This robot uses proportional and derivative control to balance itself on 2 wheels for up to 5 seconds.

nyeli-kratzNyeli Kratz
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The objective of this project was to create a robot which only makes contact with the ground on two coaxially mounted wheels and is able to balance itself on level ground using PD control based on feedback from an IMU magnetometer. We made an effort to put the heavier components as high on the robot as possible to move the center of mass farther away from the axis of rotation, giving the robot the maximum possible amount of time to catch itself before it falls.

IMG-5068.mov

Video of the robot balancing itself.

quicktime - 8.59 MB - 07/17/2022 at 14:02

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IMG-5066.mov

Video of the robot balancing itself.

quicktime - 7.37 MB - 07/17/2022 at 14:02

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IMG-5056.mov

Video of the robot balancing itself.

quicktime - 9.25 MB - 07/17/2022 at 14:02

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Mechatronics Inverted Pendulum writeup.pdf

Final project writeup including strategy and design process.

Adobe Portable Document Format - 4.12 MB - 07/17/2022 at 14:02

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FINAL_INVERTED_PENDULUM.ino

Arduino code used to control the robot.

ino - 5.46 kB - 07/17/2022 at 14:02

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