Development of a Self Balanced Robot & its Controller

Abstract

Two wheeled balancing robots are based on inverted pendulum configuration which rely upon dynamic balancing systems for balancing and maneuvering. These robot bases provide exceptional robustness and capability due to their smaller size and power requirements. Outcome of research in this field had led to the birth of robots such as Segway, Murata boy etc. Such robots find their applications in surveillance & transportation purpose. This project is based on development of a self balanced two-wheeled robot which has a configuration similar to a bicycle. In particular, the focus is on the electro-mechanical mechanisms & control algorithms required to enable the robot to perceive and act in real time for a dynamically changing world. While these techniques are applicable to many robot applications, the construction of sensors, filters and actuator system is a learning experience.