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Project Overview
Project Overview
Tasked to design and build an autonomous robot that performed a task of our choosing
Worked in a 4-person group, choosing 'self-balancing' as the task for our robot, constructing an inverted pendulum system
Research, 3D model, code, circuitry, 3D print, test, and refine the robot for efficacy
Integration of sensors, computation, and communication between drivers to function
Front View of Complete Robot
Contributions
Contributions
Conduct research on existing reverse-pendulum models of single-axle structures
Model and 3D print axle and body components from PLA
Breadboard circuitry and soldering
Prototyping, testing, and hardware refinement
Results
Results
Robot could self-balance for up to 5 seconds before losing balance between the gyroscope, computer, and motors to stand upright
Orthogonal View of Complete Robot
Early 3D Model Iteration of the Full Chassis for 3D Printing
Key Learnings
Key Learnings
Low latency and better calibrated sensors to limit delay from telemetry data collection to the motors actuating
Refinement of movement commands to a smoother re-stabilization sequence
Adjustment of the weight distribution to a lower altitude while being better incorporated in the design of the model
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