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Balancing Robot



Double pendulum balancing system on a freewheel cart

Project Gallery

3 week project to design, fabricate, build, and test a dynamically unstable balancing robot.  Mechanical system uses a pendulum within a pendulum to counter the motion of the freewheel base, and an uncoupling mechanism for the inner pendulum control to prevent damage during a fall.  3D printed parts with an ESP32 and Raspberry PiZero control boards using Python and C.

Documentation (files or external links): 

Kat Allen, Soham Gaggenpally, Ben McDermott

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