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NXT Mobile Inverted Pendulum

[+] Author Affiliations
Tony Le, Paul Oh

Drexel University, Philadelphia, PA

Paper No. DETC2008-49667, pp. 515-524; 10 pages
  • ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 13th Design for Manufacturability and the Lifecycle Conference; 5th Symposium on International Design and Design Education; 10th International Conference on Advanced Vehicle and Tire Technologies
  • Brooklyn, New York, USA, August 3–6, 2008
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4329-1 | eISBN: 0-7918-3831-5
  • Copyright © 2008 by ASME


The intent of this paper is to provide information on how to implement a mobile inverted pendulum using the LEGO® Mindstorms NXT platform for educational purposes in mechatronics. A description of the dynamics of a mobile inverted pendulum is first, followed by a description of the hardware and software components composing the NXT platform. Discussed are the capabilities and the limitations of the NXT system. As a demonstration, a mobile inverted pendulum is built and controlled using a simple PID controller. Sensors used include a HiTechnic gyro sensor to measure angular rate for balancing and the NXT ultrasound sensor for obstacle avoidance. Shown are the simulated and experimental results of the angular rate and velocity control. Lastly, a breakdown of a hypothetical course in mechatronics highlights the described NXT mobile inverted pendulum.

Copyright © 2008 by ASME
Topics: Pendulums



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