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.
PID for positioning
LCM bwtween keyboard and robot
LCM bwtween keyboard and camera
Dynamically balanced while moving