Society of Robots - Robot Forum

General Misc => Robot Videos => Topic started by: akosodry on January 20, 2015, 05:00:21 PM

Title: A real Wheeled Mobile Pendulum
Post by: akosodry on January 20, 2015, 05:00:21 PM

Hello guys, i would like to share with you a video of my thesis work. I hope you like it.

VIDEO:
https://www.youtube.com/watch?v=KZAGF3OBeuc (https://www.youtube.com/watch?v=KZAGF3OBeuc)

The robot consists of two wheels and an intermediate body which acts as a pendulum when the wheels are actuated.
The robot has a stable equilibrium point (pendulum down) and an unstable one (pendulum up).

The stabilization is solved by LQG and fuzzy control techniques.

Best regards, Akos

Title: Re: A real Wheeled Mobile Pendulum
Post by: mklrobo on March 19, 2015, 12:46:33 AM

 8) Cool!
This is where therorems are wheely tested to be true!