NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design
Updated 1 May 2009
NXTway-GS is a self-balancing two-wheeled robot built with LEGO Mindstorms NXT and a Hitechnic gyro sensor. This demo presents sample models and documents describe the following contents.
How to Build NXTway-GS
Mathematical Dynamics Model of NXTway-GS
Controller Design for Balance and Drive Control
NXTway-GS Model Illustration
Simulation and Experimental Results
You can simulate NXTway-GS model and generate controller program that can be executed on the NXT. You can watch the movies of NXTway-GS simulation and control experiment at the following URL.
This demo uses Embedded Coder Robot NXT Demo as MBD environment. You need to download it from the following URL before trying this demo.
LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this demo. LEGO(R) and Mindstorms(R) are registered trademarks of The LEGO Group.
Yorihisa Yamamoto (2023). NXTway-GS (Self-Balancing Two-Wheeled Robot) Controller Design (https://www.mathworks.com/matlabcentral/fileexchange/19147-nxtway-gs-self-balancing-two-wheeled-robot-controller-design), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
- Simulink > Simulation >
- Code Generation > Embedded Coder >
- Robotics and Autonomous Systems > ROS Toolbox > ROS Toolbox Supported Hardware >
Inspired by: Embedded Coder Robot NXT Demo, NXT SCARA (Two-Link Planar Robot Arm) Controller Design, NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design
Inspired: Lego Mindstorms EV3 Gyroboy, Gyroboy - self-balancing two-wheel robot based on Lego EV3, Embedded Coder Robot NXT Demo, NXT SCARA (Two-Link Planar Robot Arm) Controller Design, NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design, VU-LEGO Real Time Target, NXTbike-GS (self-balancing bike robot by steer-into-fall), NXT-LTD: Line Tracking Dancing Robot Demo
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1.4 Modified text
updated building instructions
Modified the generalized forces and state equations.
1.2+ Add an annotation to download the generated code into NXT standard firmware
1.0 : First edition