User:TIPSY

Abstract

We propose doing a two-dimensional inverted pendulum that works as a moving platform much like the popular Segway. Our main reason for wanting to do this project is the fun factor and the ability to combine both a popular controls systems problem with a drive system. While there have not been many papers written about the implementation of a two-dimensional inverted pendulum that can move people, a small number have been written on controls for it. The drive system that we are currently envisioning is a metal or plastic ball coated with rubber that will be rotated by three to four rollerblade-sized wheels. This will allow TIPSY to be omni directional. Our goals for the end of the year is to make TIPSY be able to hold a human and move him or her across the room safely.

Introduction and Inspiration

Inverted pendulums are a classic problem is classical control systems because of their inherent instability yet simplicity to model. This straightforwardness of this problem and easy control implementation make it ideal to teach introductory control’s class. Few ever imagined that the inverted pendulum could possibly be useful some day and many have considered it a simple academic exercise. However in 2002, Dean Kamen gave the world a use of the inverted pendulum: human transportation. In that year he produced the first Segway for public use that became a fad and a cool toy for many geeks to add to their collection. Our idea is to expand upon Mr. Kamen’s design and give the inverted pendulum a second degree-of-freedom and hopefully be more useful and more fun than his invention. Our project’s name is TIPSY which stands for Two-dimensional Inverted Pendulum Schlepping Y’All.  Concept Planning

Goals