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The UMass uBot is a experimental research platform for studying distributed control architectures for multiple mobile platforms.

The ubot is a platform that was custom build at UMASS, Amherst. This link provides more detail on the hardware implementation. The most recent incarnation of the uBot is capable of balancing on two wheels, getting much of its inspiration from the Segway RMP. To accomplish balancing control, inertial sensing was incorporated by an accelerometer and gyroscope board from Rotomotion. The uBot was then modeled as an inverted pendulum using the State Space approach. A Linear Quadratic Regulator (LQR) was then used to solve the control problem. The videos below demonstrate the balancing uBot in action.

Video
Meet the uBot:	MPEG-1
uBot riding a Segway RMP	MPEG-1
uBot demonstrating some falls and recovery	MPEG-1

updated 30-April-2004