Design and Fabrication of Wheeled Inverted Pendulum Human Transporter

Abstract

An inverted pendulum is a pendulum that has its center of mass above its pivot point. For the mass to remain upright above the pivot point, it needs to be balanced in the pitch and roll directions. The balancing in wheeled inverted pendulum human transporter (WIPHT) is done in the pitch direction as free rotation in other directions is restricted. WIPHT consists of simple microelectromechanical (MEMS) components and supplement components which include microcontroller, motor driver, batteries, and DC motors. Developing such an electronic control system requires enhanced and deterministic control on all the components. WIPHT is a two-wheeled vehicle which has a large scope of applications in our daily life. The major application that can be targeted is in vast industrial areas or plants for the easy locomotion of the workers and supervisors. Other application includes small distance transportation within the city, stabilization of the camera during videography, stills for professional output. This project aims to safeguard the non-renewable energy resources like diesel and petrol by the use of lead–acid or Li–Po batteries energized by renewable sources of energy, thereby contributing to effective control on pollution. The WIPHT design also enables the provision for the passenger to sit, thus improving the ride comfort and avoiding strenuous standing posture. The WIPHT opens an idea to a concept of a two-wheeled wheelchair which provides easy manipulation. Moreover, the WIPHT enables us to maneuver through heavy traffic and narrow streets.