Prototype for a Self-Balanced Personal Transporter

This paper presents the design and construction of an Electrical Prototype for a Self-Balanced Personal Transporter based on the principle of the inverted pendulum that will keep an angle of 0 degrees with the vertical at all times. The balancing robot system is built in order to do filter experimentation and to test out their performance. The mechanical structure, the electronic design and implementation and the algorithm for the proposed prototype have been designed by the team. The electronic implementation consists of an accelerometer and a gyroscope used as sensors, the Mbed [6] development platform, programmed in C++ for the control unit, and two motors for the actuating part. This paper is focused on the acquisition and processing of the sensors signals, on the complementary filter used to combine both data and on their implementation in the Mbed platform.