LEGO Mindstorms NXT Based Bicycle Robot

Joep Mutsaerts builds a LEGO Mindstorms NXT based bicycle robot in an assignment for the TUDelft 3mE/PME course Mechatronic System Design II. The lateral stability control is done by the concept of "steer into the undesired fall" and comes down to only one line of code in the controller: SteerMotorVoltage=8*RearFrameLeanRate.

Here you can download the design (NXTbike-GS Design.pdf) and the building instructions (NXTbike_GS_Building_Instructions.pdf).