Cart Pole

During the Spring 2021 semester, I worked with Alp and Dr. Posa to create a physical demonstration for a paper on Contact-Aware Controllers. My primary responsibility was to design and build a cart pole system (sometimes known as an inverted pendulum) with spring-like walls and integrated force sensing. To learn more about the project and see it in action, please see the video below.

For more information and the completed CAD assembly + Bill of Materials, please see the GitHub link below. There you will also find all of our code.