Jason Crim Vikas Kedigehalli Chinnappa Pattada

11/9/10

Drive the robot wheels in the direction that the upper part of the robot is falling. If the wheels are driven in such a way that they stay under the robot’s center of gravity, the robot remains balanced. This requires two feedback sensors -> Tilt or angle sensor : To measure the tilt of the robot with respect to gravity -> Wheel Encoders : To measure the position of the base of the robot.

11/9/10

Low power, 3-axis accelerometer with high resolution (13-bit) measurement ADXL-345 Triple-axis, digital output gyroscope ITG-3200

DC Gearhead Robot Motor 7.2V motor with 7.2Kg-cm of torque, 160 rpm no load speed, a 6mm drive shaft, and built in quadrature encoder VNH2SP30 Motor Driver Carrier MD01B Compact motor driver with current sensing and high PWM frequency (20 Khz) supplies current of upto 30A

mbed NXP LPC1768 Microcontroller with ARM based Cortex- M3 core, running at 96MHz, with 512KB FLASH, 64KB RAM

11/9/10 Video Demo

11/9/10