Krauss, R. W., & VanderRoest, C. T. (2017, June), Board # 144 : MAKER: A 3D Printed Balancing Robot for Teaching Dynamic Systems and Control  Paper presented at 2017 ASEE Annual Conference & Exposition, Columbus, Ohio. 10.18260/1-2--27760

\bibitem{asee_peer_27760}
  Krauss, R. W., \& VanderRoest, C. T. (2017, June), \emph{Board \# 144 : MAKER: A 3D Printed Balancing Robot for Teaching Dynamic Systems and Control}
  Paper presented at 2017 ASEE Annual Conference \& Exposition, Columbus, Ohio.
  10.18260/1-2--27760

Ryan W. Krauss and Chad Thomas VanderRoest.  "Board # 144 : MAKER: A 3D Printed Balancing Robot for Teaching Dynamic Systems and Control".  2017 ASEE Annual Conference & Exposition, Columbus, Ohio, 2017, June.  ASEE Conferences, 2017.  https://peer.asee.org/27760 Internet.  12 Apr, 2024

\bibitem{asee_peer_27760}
  Ryan W. Krauss and Chad Thomas VanderRoest.
  "Board \# 144 : MAKER: A 3D Printed Balancing Robot for Teaching Dynamic Systems and Control".
  \emph{2017 ASEE Annual Conference \& Exposition, Columbus, Ohio, 2017, June}.
  ASEE Conferences, 2017.
  https://peer.asee.org/27760 Internet.  12 Apr, 2024

@INPROCEEDINGS{asee_peer_27760
author = "Ryan W. Krauss and Chad Thomas VanderRoest"
title = "Board \# 144 : MAKER: A 3D Printed Balancing Robot for Teaching Dynamic Systems and Control"
booktitle = "2017 ASEE Annual Conference \& Exposition"
year = "2017"
month = "June"
address = "Columbus, Ohio"
publisher = "ASEE Conferences"
note = {https://peer.asee.org/27760}
number = {10.18260/1-2--27760}
}

TY  - CPAPER
AB  - This paper presents a student project that resulted in a low-cost robot that can be used to teach dynamic systems and control.  The body of the robot was 3D printed.  The low-level control was performed by an Arduino.  The high-level control was handled by a Raspberry Pi.  The Raspberry Pi and Arduino communicate over USB serial.  The Raspberry Pi additionally provides a wifi connection for the robot.  The robot is a two-wheeled balancing robot that is essentially an inverted pendulum.  The robot carries a glass of water while performing various maneuvers such as line following.  Students learn the importance of feedback to stabilize the unstable inverted-pendulum system.  A real-time feedback control algorithm is implemented on the Arduino.  Students also learn various aspects of Linux and Raspberry Pi in order to do the high-level control.

The final cost for the robot is less than $250 and it makes a useful experimental system for dynamic systems and control courses.
AU  - Ryan W. Krauss
AU  - Chad Thomas VanderRoest
CY  - Columbus, Ohio
DA  - 2017/06/24
PB  - ASEE Conferences
TI  - Board # 144 : MAKER: A 3D Printed Balancing Robot for Teaching Dynamic Systems and Control
UR  - https://peer.asee.org/27760
DO  - 10.18260/1-2--27760
ER  -