Developing a two-wheeled self-balancing transport platform
February 10, 2009 by admin
Filed under Motion Control
Annals of a mechatronic system design project
By Professor Kevin C. Craig and Matthew A. Rosmarin
Rensselaer Polytechnic Institute
Figure 1. The Engineering System Investigation Process.
A senior design team at Rensselaer Polytechnic Institute (RPI) set out to develop an interdisciplinary mechatronic system by designing and prototyping a two-wheeled robotic locomotion platform inspired by (and with the permission of) the Segway Corporation, maker of the Segway Human Transporter. The two-wheeled, self-balancing transport platform utilizes parallel-wheel locomotion to provide precise maneuverability while maintaining system stability. The team tackled both the complexity involved in modeling, analyzing, and controlling the platform, as well as the implementation of two fully operational prototypes in a four-month time period.
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