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Image of the project TiltOne
Short Description: Balancing robot
Coordinator: AndreaBonarini (andrea.bonarini@polimi.it)
Tutor: MartinoMigliavacca (migliavacca@elet.polimi.it)
Research Area: Robotics
Research Topic: Robot development
Start: 2008/03/01
End: 2010/04/20
Status: Active
Level: Ms
Type: Thesis

TiltOne is a two-wheels balancing robot that can keep itself in equilibrium while moving around. It's a bigger version of Tilty - our first balancing robot - as it is designed to be able to carry a quite high payload (up to 50kg) travelling at speeds of about 1.5m/s.

Mechanical project


As the robot needs to keep the wheel axis just under it's center of mass to mantain the unstable equilibrium point, it's inertia should be high in the upper part of the frame and low at the wheel level, allowing the base to move while the center of mass holds - ideally - it's position. For this reason the batteries, that are the heavier component of the robot, are mounted at the top of the frame.

A preview of the robot structure was realized using Google Sketchup 6, giving a first idea about it's dimensions and components placement Media:Tiltone_2_-_completo.zip.

Tiltone 2 - ruote alzate.jpg

The robot frame is built using standard aluminium profiles (http://www.item.info) to allow future modifications and provide simple solutions to attach auxiliar devices.

Wheels and transmission

The mechanical project was then realized using Rinoceros 4.0 CAD. Apart from the robot frame, particular attention was dedicated to the design of the transmission and the wheel hub, that allow to use standard cross-bike wheels Media:Tiltone_3_Rhinoceros.zip.



The robot is actuated by two high-power electrical DC motor from Maxon Motor (www.maxonmotor.com) that provide torque to the wheels via a belt drive system.

Electrical project


Robot controller

Stability and motion control

Classical controllers

Reinforcement Learning approach

YouTube videos

External links