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4 Wheels 4 More Fun

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Uploaded on Nov 12, 2006

Lego Unicycle Robot
Now meet another balancing robot. This one balances on one wheel and apparently uses two RCX bricks and four sensors along with three tires to maintain balance on the axis perpendicular to its unicycle. The robot balances on the main axis by directly powering the wheel. The axis perpendicular to its unicycle is balanced by the set of rotating tires.

It uses 3 pid controllers
pid = Kd * errdiff + Kp * err + Ki * Errint
Kd, Kp, Ki are tuned via remote control code.

sources on:
http://woerden-dynamics.jouwweb.nl/ga...

see also: http://en.wikipedia.org/wiki/PID_cont...

Check out the video!
More info on:
http://news.lugnet.com/robotics/?n=22181
and
http://www-clmc.usc.edu/Resources/Sof...

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