Design and Development of a Self-balancing Bicycle Robot

Pom Yuan Lama and Tan Kian Sinb

Nanyang Polytechnic, 180 Ang Mo Kio Ave 8 Singapore, 569830.


This paper reports the design and development of a self balancing bicycle using off the shelf electronics. A self-balancing bicycle is a non-linear control system similar to that of an inverted pendulum. The system uses a control moment gyroscope (CMG) as an actuator for balancing.

Keywords: Bicycle, Control moment gyro (CMG), Real-time, Control and FPGA.

     Back to TOC