Phil and I have been working on this one for a long time. We’re calling it ZIPY: Zippy Inverted Pendulum Yakshave. We finally succeeded in controlling an inverted pendulum. It swings up and balances. Would ya look at that! Also check out Phil’s posts on the project.

The inverted pendulum or cart pole is a classic problem in control theory. It’s in OpenAI Gym of course, but we wanted to see it work in real life, not some lame simulation. We were inspired by Russ Tedrake’s class on underactuated robotics and by the popularity of the problem for reinforcement learning.

A Real-Life Cart Pole
It took a few iterations, but we eventually found a system that works well. Our cart is 3D printed PLA driven by a DC motor via a toothed belt. The pole itself is a paint stirrer. One of the longer type, about 24”. A rotary encoder opposite the motor acts as a pulley for the belt and allows us to track the motion of the cart, while a second rotary encoder on the cart is a pivot for the pole and measures its angle. The motor is controlled by a 32 amp Sabertooth motor controller. It’s overkill, and pretty expensive at about $120, but we already had it for another project. We monitored the encoders with an Arduino. The foundation of the system is a piece of extruded aluminum rail called V-Slot, on which the cart slides and the motor and encoder are mounted. Our rail is 1.5 m long, from a company called SMW3D.”