Reaction Wheel-Based Stability of a Three-Link Inverted Pendulum

ME 139 Group 9: Connor Hennig, Jenny Mei, Kevin Cheng, Taewon Kim

Table of Contents

• Project Description
• Quick Start
• Project Structure

Project Description

The main idea of this project is to design and create a bipedal robot that is able to raise and lower itself while remaining balanced.

Quick Start

To simulate any of the existing systems with default settings, run the following command in the root directory.

$ python3 main.py reactionwheel 

An example command with some additional settings is shown below.

$ python3 main.py reactionwheel --fps 60 --duration 30 --save --no-show

For help with any parameters, simply run

$ python3 main.py --help

Project Structure

The project is organized as follows:

• assets/ contains some diagrams and simulation outputs
• cache/ contains some cached data to speed up computation/simulation time
• docs/ contains the documentation for the project (NOT CREATED YET)
• notebooks/ contains relevant Jupyter notebooks
• src/ contains the source code
• tests/ contains the unit tests

The src/ directory is organized as follows:

• animator/ handles rendering and saving the simulation
• simulator/ solves an IVP for a given system
• systems/ contains the code that defines the system dynamics for various robots