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Two-Wheeled Inverted Pendulum Robot

posted Feb 16, 2011, 1:13 AM by Vishal Verma   [ updated Jun 21, 2011, 1:45 PM ]

Project Requirements

  • Build a 2 wheeled robot which would be inherently (statically) unstable.
  • Stream its angular position and velocity (measured using an accelerometer and a gyroscope) wirelessly to a PC running VxWorks
  • Build VxWorks tasks to run a PID control loop and send back 'corrective action' data over the wireless link
  • Interpret this data on the robot and try to stay balanced as long as possible

In Action: