Stability and motion control of a balancing robot - Revision history

AndreaBonarini at 15:58, 28 April 2011

2011-04-28T15:58:16Z

AndreaBonarini at 08:00, 9 March 2010

2010-03-09T08:00:37Z

AndreaBonarini at 07:59, 9 March 2010

2010-03-09T07:59:51Z

AndreaBonarini at 07:56, 9 March 2010

2010-03-09T07:56:37Z

MartinoMigliavacca at 09:11, 8 March 2010

2010-03-08T09:11:24Z

MartinoMigliavacca at 11:49, 5 March 2010

2010-03-05T11:49:50Z

MartinoMigliavacca: New page: {{ProjectProposal |title=Stability and motion control of a balancing robot |image=Proposta tiltone.png |description=This project is focused on designing and testing a stability and motion ...

2010-03-05T11:39:07Z

New page: {{ProjectProposal |title=Stability and motion control of a balancing robot |image=Proposta tiltone.png |description=This project is focused on designing and testing a stability and motion ...

New page

{{ProjectProposal
|title=Stability and motion control of a balancing robot
|image=Proposta tiltone.png
|description=This project is focused on designing and testing a stability and motion controller for TiltOne, a balancing robot platform.
|tutor=AndreaBonarini; MartinoMigliavacca
|start=2010/03/01
|studmin=1
|studmax=2
|cfumin=5
|cfumax=20
|resarea=Robotics
|restopic=Robot development;
|level=Ms
|type=Thesis
|status=Active
}}

@@ Line 17: / Line 17: @@
 |level=Ms
 |type=Course; Thesis
-|status=Active
+|status=Closed
 }}
 Home page of [[TiltOne]]

@@ Line 2: / Line 2: @@
 |title=Stability and motion control of a balancing robot
 |image=Proposta tiltone.png
-|description=This project is focused on the control of both stability and motion of [TiltOne], a balancing robot.
+|description=This project is focused on the control of both stability and motion of TiltOne, a balancing robot.
 TiltOne is a robot with only two wheels that can stand in vertical position following an unstable equilibrium point. The control is applied by commanding an amount of torque to the wheels, allowing the robot to mantain it's gravity center vertical aligned to the wheel axis.
@@ Line 19: / Line 19: @@
 |status=Active
 }}

@@ Line 2: / Line 2: @@
 |title=Stability and motion control of a balancing robot
 |image=Proposta tiltone.png
-|description=This project is focused on the control of both stability and motion of TiltOne, a balancing robot.
+|description=This project is focused on the control of both stability and motion of [TiltOne], a balancing robot.
 TiltOne is a robot with only two wheels that can stand in vertical position following an unstable equilibrium point. The control is applied by commanding an amount of torque to the wheels, allowing the robot to mantain it's gravity center vertical aligned to the wheel axis.

@@ Line 6: / Line 6: @@
 TiltOne is a robot with only two wheels that can stand in vertical position following an unstable equilibrium point. The control is applied by commanding an amount of torque to the wheels, allowing the robot to mantain it's gravity center vertical aligned to the wheel axis.
-The aim of the project is to implement and compare different control solutions, based on classical approach (as PID and LQR control) and Machine Learning approach (as Reinforcement Learning control policies).
+The aim of the project proposal is to implement and compare different control solutions, based on classical approach (as PID and LQR control) and Machine Learning approach (as Reinforcement Learning control policies), that allow the robot to move following a given trajectory at a given speed.
 |tutor=AndreaBonarini; MartinoMigliavacca
 |start=2010/03/01