Mobile Robots

The inverted pendulum has widely established itself in technical literature as a platform for demonstration of control theory and practice. A relatively recent offshoot of the classical inverted pendulum is the wheeled inverted pendulum (WIP), popularized in contemporary culture by the Segway Personal Transporter. There have been other WIPs of varying architectures that have been successfully designed and constructed. In our work, we address the question of WIP design. Specifically, we investigate how design choices influence WIP performance