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Stability and motion control of a balancing robot
PrjCFUMax 20  +
PrjCFUMin 5  +
PrjDescription This project is focused on the control of … This project is focused on the control of both stability and motion of TiltOne, a balancing robot. TiltOne is a robot with only two wheels that can stand in vertical position following an unstable equilibrium point. The control is applied by commanding an amount of torque to the wheels, allowing the robot to mantain it's gravity center vertical aligned to the wheel axis. The aim of the project proposal is to implement and compare different control solutions, based on classical approach (as PID and LQR control) and Machine Learning approach (as Reinforcement Learning control policies), that allow the robot to move following a given trajectory at a given speed. owing a given trajectory at a given speed.
PrjImage Image:Proposta tiltone.png  +
PrjLevel Master of Science +
PrjResArea Robotics +
PrjResTopic Robot development +
PrjStarts 1 March 2010  +
PrjStatus Closed  +
PrjStudMax 2  +
PrjStudMin 1  +
PrjTitle Stability and motion control of a balancing robot  +
PrjTutor User:AndreaBonarini + , User:MartinoMigliavacca +
PrjType Course + , Thesis +
Categories ProjectProposal  +
Modification¬†dateThis property is a special property in this wiki. 28 April 2011 15:58:16  +
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