1. Segway Fault Patrick Lloyd Undergraduate Student
Electrical Engineering

2. Robot Overview 2 wheeled platform Self-balancing > 3 Hour run time
< 4 pounds
Uses accelerometer data to determine uprightness

3. Hardware 2x – Brushed DC motors 2x – H-Bridge motor controllers
1x – 9DOF IMU
1x – 4 cell (2S1P) LiFePo4 Battery
1x – Arduino
2x – Sonar sensors

4. Meet the Robot

5. Software Mahony/Madgwick Data Fusing Algorithm
Uses quaternions to combine IMU data
Avoids problems of gimbal lock
Computationally inexpensive

6. Software PID Controller Proportional – Provides fast response time
Integral – Minimizes steady state error
Derivative – Predicts system behavior

7. Data

10. Questions?