Within several student projects, diploma thesis and research projects this Mini - Segway was designed. The main tasks of this robot are several control strategies which stabilize the robot in the upright position and enable a trajectory control. Current research is done in the implementation of human-machine interfaces. Thereby a Microsoft Kinect, which is fitted into the head of the Segway, as well as a Tablet should serve as intuitive joysticks for trajectory input.

Technical data:

• Mechanical construction: Two wheel balancing robot
• Drives: 2 x 20 W DC engines
• Electrical Capacity: 4 Ah at 22.2V LiPo accumulator
• Control system: RTAI Linux on costumer hardware
• Control performance: Current control 400µs, Position control 2ms
• Vision system: Microsoft Kinect