The Lego Mindstorms series is a widespread robotics platform, already employed in many academic laboratories for educational purposes, which has recently obtained native support from another popular product, the Mathworks simulation environment Simulink. In this paper we show through a practical case of study how this combined platform is suitable for the fast developing of control projects inside a laboratory teaching activity, allowing students to focus on the core control design problems, rather than spending relevant time on implementation issues. To this aim, the NXT-bike project is presented, illustrating advantages and drawbacks encountered during the design of a stabilized bicycle Lego model, from the mechanical realization to the conclusive phases of model analysis, control design, and experimental validation.

Simulink meets Lego: Rapid controller prototyping of a stabilized bicycle model / Basso, Michele; Innocenti, Giacomo; Alberto, Rosa. - STAMPA. - (2013), pp. 330-335. (Intervento presentato al convegno 2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) tenutosi a Florence, Italy nel 10-13 Dec. 2013) [10.1109/CDC.2013.6759903].

Simulink meets Lego: Rapid controller prototyping of a stabilized bicycle model

BASSO, MICHELE;INNOCENTI, GIACOMO;
2013

Abstract

The Lego Mindstorms series is a widespread robotics platform, already employed in many academic laboratories for educational purposes, which has recently obtained native support from another popular product, the Mathworks simulation environment Simulink. In this paper we show through a practical case of study how this combined platform is suitable for the fast developing of control projects inside a laboratory teaching activity, allowing students to focus on the core control design problems, rather than spending relevant time on implementation issues. To this aim, the NXT-bike project is presented, illustrating advantages and drawbacks encountered during the design of a stabilized bicycle Lego model, from the mechanical realization to the conclusive phases of model analysis, control design, and experimental validation.
2013
Proceedings of the 52nd IEEE Conference on Decision and Control
2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC)
Florence, Italy
10-13 Dec. 2013
Basso, Michele; Innocenti, Giacomo; Alberto, Rosa
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Utilizza questo identificatore per citare o creare un link a questa risorsa: https://hdl.handle.net/2158/867714
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