Nancy Ouyang, Ashwin Krishna — MIT 6.832 Underactuated Robotics

A flywheel (inertia wheel) mounted at the tip of a pendulum can generate torque to keep the pendulum balanced upright — even without a motor at the pivot. In simulation, we derived the equations of motion and applied LQR control and region-of-attraction analysis. We also built a complete hardware system from scratch and implemented swingup and stabilization using PD and bang-bang control.

I led the analysis and controls design and co-built the hardware system.