Mechanical Engineering The University of Adelaide Australia

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Robotics Group



School of Mechanical
Engineering

THE UNIVERSITY OF
ADELAIDE
SA 5005
AUSTRALIA

Telephone:
+61 8 8303 5460
Facsimile:
+61 8 8303 4367

Rotational Inverted Pendulum Projects by Ben S. Cazzolato RC VTOL V22 Osprey
Project Picture
Photo of Ben Cazzolato

Ben Cazzolato

Photo of Miguel A. Clark

Miguel A. Clark

Photo of James Field

James Field

Photo of Simon G. Mc Mahon

Simon G. Mc Mahon

Photo of Paul Philps

Paul Philps

EDGAR - A self balancing scooter

Ben S. Cazzolato, Miguel A. Clark, James Field, Simon G. Mc Mahon and Paul Philps


Keywords: Segway, control, self balancing scooter, edgar, segway clone

(Commenced: 01-Jan-2005,Concluded: 21-Oct-2005)

Electro-Drive Grav-Aware Ride (EDGAR): This honours project covers the design and testing of a two wheeled self balancing vehicle capable of carrying a human by maintaining the wheels underneath their centre of gravity.

Upon reviewing information pertaining to previous self balancing scooters, it was found that it would be within the scope of this project to design and build a self balancing vehicle within the given timeframe. The design is loosely based around the Segway Human Transporter (HT), which is the first self-balancing vehicle available commercially. The design draws upon the successes and failures of other attempts at replicating a Segway HT.

The aim of the project is to design and build a self balancing scooter that functions similarly to the Segway HT by using automatic control methods to take angular feedback from a gyroscopic unit and convert them into signals for the drive system.

The process the vehicle goes through to self balance is similar to how a human balances. The human brain recognises the force due to gravity on the vestibular system and is able to discern the direction it is coming from. It then sends impulses to the muscles in the limbs to help provide balance. Similarly, the microcontroller receives information from an intertially aware sensor and interprets it to then send commands to the drive system to help provide balance.

An inertial measurement unit is used to measure the angle and angular rate of the pitch, roll and yaw of the device. The drive system consists of two coaxial geared motors driven by a dual channel motor controller often used in hobby robotic applications.

The vehicle was designed to be robust and easy to use whilst not compromising on strength and weight. The design included special attention to aesthetics of the vehicle and the ergonomics of the rider-vehicle interface. After some small changes to the initial design, the completion of a fully functioning prototype was achieved.

The device satisfies all the basic specifications and is quite enjoyable to ride.

In 2006, the project was continued leading to the birth of SON of EDGAR.

Other self balancing scooters

Edgar Deliverables

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