Student Researcher at the Laboratorium of Marvelous Mechanical Motum
The project
In an effort to contribute to the improvement of prosthetic limb motion control, the Mechmotum laboratory under the direction of PI Dr. Jason Moore was developing a simplified biomimetic of the balancing human body. The device also doubled as an educational tool for high school students.
What I did
In my research, I improved the electromechanical design of the inverted double pendulum shown above. This included developing motion control software in C++ with a user-friendly isolated controller package. We presented and documented all work, and contributed to the laboratory blog. We also tested the system and validated the software and hardware.
The robot shown above is controlled by an Arduino using encoders at each joint to close the feedback loop. Controller gains can be set in real time through serial communication via a Processing GUI.