Reaction Wheel Pendulum (Stabilized Monopod)
Senior Project Paper: Self-Stabilized Monopod
This project is a monopod that stands up by itself using an active reaction wheel. The system uses a brushless motor with sensorless FOC control, an attitude controller running on Arduino, and a mechanical system to hold it all together.
I devised, designed, and built the whole project. I designed and manufactured the mechanical system, I sourced and built the electronics, and I designed and coded the control system.
I used my CNC Mill to create the mechanical part of the pendulum/monopod.