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This paper describes the design, programming, and construction of a battery operated autonomous Segbot. The Segbot, a two wheeled robot, has some similarities to the inverted pendulum cart system in that it is underactuated, exhibits non-minimum phase behavior, and requires a stabilizing controller to stand upright. The Segbot differs from the inverted pendulum cart system in that the dynamics are...
The paper contains a description of the design, construction, and testing of an autonomous inverted pendulum on a cart. The cart is battery-powered, containing an on-board processor which implements real-time control. The dedicated local area network consists of a wireless communication link between the host computer, which issues supervisory commands, and in return receives state and control data...
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