Raspberry Piを用いた小型車輪型倒立振子ロボットμ-Pentarの試作

抄録

In this research, we develop a small wheeled inverted pendulum robot, μ-Pentar, equipped with a Raspberry Pi 4B. Due to the shortage of semiconductors in this year, we were unable to obtain an FPGA which was to control the motor driver and perform the signal processing for the encoder. Therefore, we investigated a method using the pigpio library instead of the FPGA. In this paper, the results of measure the response time of encoder counter function of pigpio library and the latency of serial communication line for IMU that measures the posture of the robots.