Three Day Workshop at IIT Bombay

Title: Self Balancing Robot Design (SBR)

3rd - 5th August 2023

Two faculty members Prof. (Dr.) Isha Malhotra and Dr. R. Dheivanai of Dronacharya College of Engineering, Gurugram participated in the  three days e-Yantra  workshop entitled “Self Balancing Robot Design (SBR)” from 3^rd - 5^th August, 2023. 

During the first two days of the workshop faculty members got the opportunity to learn about: Introduction of Self Balancing Robot, Humanoids and SBRs, applications and advantages of SBRs or in general Humanoids, Types of SBRs and major components required, eYFI Mega Board and Motor Control, Arduino IDE for programming the board as well as controlling the Motors, Communication Protocols & Hardware Interface part was also discussed under which Serial, I2C, Interfacing Sensors, Actuators, Sample code, MPU 6050, filter techniques Interrupt Handling, Balancing Robot through PID, Basic Principle of PID, understanding effect of each of the 3 components, balancing the robot based on PID technique, LQR Control Technique, PID Control Techniques, Shortcomings of PID, State Space Method and its advantage over PID, Lagrangian Function and Non-Linear to Linear Conversion.

During the session a brief discussion about the achievements and future plans of e-Yantra was presented by Prof. Kavi Arya, Principal Investigator, e-Yantra, IIT Bombay.

On the last day of the workshop, session started with discussing the ‘Analyzing the System’ in which the major topics of discussion were Controllability, Observability, Detectability, Stability and Stabilizability. Additionally, discussion was also made on ‘How to Apply the LQR’ and calculating appropriate gain matrix. Apart from that; how it is possible to balance a Robot through LQR in which Calculating appropriate gain matrix, Implementation of LQR Gain Matrix and Balancing the Hardware was also explained.

At the end, a Quiz and feedback session was conducted followed by valedictory session.

Participants received the Certificates upon the successful completion of the workshop. The workshop proved to be a great learning experience to enhance the knowledge and practical skills of faculty members which they may carry forward for training purpose to the students for a better tomorrow.