Real-time Robotic Control

Benjamin Cyr
Department of Electrical and Computer Engineering
Auburn University
2328 Shelby Hall
Auburn, AL 36849-5201, USA


In this project, our goal is to develop a robotic testbed to evaluate the performance of real-time robotic control algorithms. In Stage 1 of this project (Oct. 2017~Feb. 2018), Benjamin Cyr developed two robots using Matlab and LEGO MINDSTORMS EV3: one is a self-balancing system based on the BALANC3R from robotsquare.com, and the other is a cart and pendulum system.

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Figure 1: Self-Balancing Robot Figure 2: Cart and Pendulum Balancing Robot


Here is a short video demonstrating their performance:



These two robots were first displayed in a K-12 engineering outreach event (E-Day) on February 23, 2018 (Figure 3).

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Figure 3: Benjamin Cyr presenting on E-Day 2018


These robots will be used in our future experiments to improve the stability of real-time robotic control.