Abstract— In this project, we worked with a toolkit for building a small segway. The main goal is to build a two-wheeled robot, with motors and encoders connected to a BeagleBone board, and to control this robot using sensor feedback so it can balance upright, even when disturbed (i.e. someone pushes it). At the end, this segway was able to balance still, go straight and turn by using a keyboard as well as follow certain color tags with a mono-camera.

Buying parts


PID for positioning

LCM bwtween keyboard and robot

LCM bwtween keyboard and camera

Dynamically balanced while moving 

Dynamically balanced while moving and being disturbed