INTECO

Educational and research platform for autonomous self-balancing robot control

Two-Wheeled Unstable Transporter (UnTrans) is a self-balancing two-wheeled mobile robot designed for education and research in automatic control, robotics, and real-time embedded systems. The robot represents an inherently unstable dynamic system, requiring continuous feedback control to maintain its upright position while performing motion and trajectory-tracking tasks.
The platform combines a battery-powered mobile structure with onboard real-time control hardware and measurement sensors. Full integration with MATLAB/Simulink enables rapid controller development, automatic code generation, and deployment directly to the robot. UnTrans provides a versatile environment for studying system modeling, state estimation, balance control, trajectory planning, and implementation of advanced control algorithms in a real-world mobile robotic system.

Hardware components of the system:

• two DC motors with planetary gearboxes and incremental encoders
• inertial Measurement Unit (IMU) for tilt angle and motion sensing
• onboard real-time control and data acquisition hardware with FPGA technology
• wireless communication via WiFi
• rechargeable 12 V battery power supply

Dimensions:

• 440mm x 350mm x 600xmm