Three Day Workshop at IIT Bombay
Title: Self Balancing Robot Design (SBR)
3rd - 5th August 2023
Two faculty members Prof. Sanghamitra V Arora (HOD, ECE Dept.) and Dr. Kaustubh Kumar Shukla (Assistant Professor, ECE Dept.) of Dronacharya Group of Institutions, Greater Noida participated in the Three Day Workshop entitled “Self Balancing Robot Design (SBR)” from 3rd to 5th August, 2023 through e-Yantra which is a platform provided by IIT Bombay to teach students, faculty members, researchers etc. globally.
Day 1: 3rd August, 2023
During the first day major topics were discussed about the ‘Introduction of Self Balancing Robot’ and covered major contents such as: Humanoids and SBRs, motivation for designing SBRs, applications and advantages of SBRs or in general Humanoids, Types of SBRs and major components required. Additionally, eYFI Mega Board and Motor Control was also discussed under which major tasks were covered and understanding the eYFI Mega Board and Arduino IDE for programming the board as well as controlling the Motors for basic motion was also taught. 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. Apart from that, Communication Protocols & Hardware Interface part was also discussed under which Serial, I2C, Interfacing Sensors, Actuators, Sample code uploads were covered. At last, the session ended with discussion being made on the MPU 6050 and filter techniques Interrupt Handling.
Day 2: 4th August, 2023
The Second Day started with the discussion being made on ‘Balancing Robot through PID’ the major topics that were discussed throughout the day were: Basic Principle of PID, understanding effect of each of the 3 components, balancing the robot based on PID technique. Additionally, ‘LQR Control Technique’ was also taught by IIT professors covering the major contents such as: advantages of PID Control Techniques, Shortcomings of PID, State Space Method and its advantage over PID, when to use PID and when not. At last discussion was based on Modeling the system under which the major contents were Energy in a system, Lagrangian Function and Non-Linear to Linear Conversion.
Day 3: 5th August, 2023
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.