{"id":334,"date":"2017-03-15T19:01:18","date_gmt":"2017-03-15T21:01:18","guid":{"rendered":"http:\/\/sites.usp.br\/lca\/?page_id=334"},"modified":"2019-04-09T17:30:53","modified_gmt":"2019-04-09T19:30:53","slug":"monociclo-auto-equilibrado","status":"publish","type":"page","link":"https:\/\/sites.usp.br\/lca\/en\/projetos\/monociclo-auto-equilibrado\/","title":{"rendered":"Self Balancing Unicycle"},"content":{"rendered":"<p>The unicycle was totaly developed in LCA. The system has only one wheel to move in contact with the ground and a reaction wheel to compensate for any lateral imbalances. Th Unicycle has a high degree of difficulty in terms of modeling and control. In the following video, a digital LQR controller was used. The code is embedded in the NXP K64F development platform.<\/p>\n<p>&nbsp;<\/p>\n<p>https:\/\/youtu.be\/t4sakACzcew<\/p>","protected":false},"excerpt":{"rendered":"<p>The unicycle was totaly developed in LCA. The system has only one wheel to move in contact with the ground and a reaction wheel to compensate for any lateral imbalances. Th Unicycle has a high degree of difficulty in terms of modeling and control. In the following video, a digital LQR controller was used. The&hellip;<\/p>\n","protected":false},"author":436,"featured_media":283,"parent":62,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-334","page","type-page","status-publish","has-post-thumbnail","hentry","post"],"_links":{"self":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/334","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/users\/436"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/comments?post=334"}],"version-history":[{"count":3,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/334\/revisions"}],"predecessor-version":[{"id":363,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/334\/revisions\/363"}],"up":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/pages\/62"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/media\/283"}],"wp:attachment":[{"href":"https:\/\/sites.usp.br\/lca\/en\/wp-json\/wp\/v2\/media?parent=334"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}