Wheeled Inverted Pendulum Robot Using PID Control System
March 2021
In this project, I helped design and implement a control system that maintains the balance of a wheeled inverted pendulum and corrects for angular disturbance.
For this project, we used a Pololu Balboa 32U4 robot kit as the robotic base with a set of 0.6 m long laser-cut MDF side extension to raise the center of mass and create the inverted pendulum. At the top of the robot are a set of weights, adding up to around 200g.
Here is a video demonstration of our our robot in action. Once the robot is rotated up to a standing position, it is able to balance by itself. It can balance even with external disturbances such as light shoves and taps as seen in the video.
For the technical details of this project, please read the following PDF document. A snipet of the code used for this project is also included at the end of the PDF.