For my master's thesis at the University at Buffalo, I designed, built and wrote the controllers for an autonomous inverted pendulum named Vertigo. Vertigo is a robotic platform with two confguration modes for locomotion, sphere-based and ground-based. In the sphere-based configuration, the robot is perched on top of a sphere, which it actuates to dynamically balance itself and navigate as a 3D inverted pendulum. This is the primary mode for which Vertigo was designed; however, the sphere can also be omitted, and control implemented in a secondary ground-based configuration.
J. "Design, Development and Control of Mobile Biaxial
Inverted Pendulum," M.S. Thesis, State University of New York at Buffalo, 2009, 254 pages; AAT 1469106
Copyright © 2012 jonathan missel