NXTway-G
NXTway-G, a descendant of Steve Hassenplug’s Legway and Philippe Hurbain’s NXTway, is a two-wheel self-balancing mobile robot.
Overview(nxtway-g.pdf) NEW!
Structure
    Original Version (3 pictures)
    HiTechnic Version (20 pictures)NEW!
Building Instruction
    Original Version / HiTechnic Version
Modeling (Motion Equation)
Controller Design and Simulation
Structure of Control System
Control Software
    Original Version
    HiTechnic Version
Experimental Results
Video
    Original Version
        Response to Disturbance
        Remote Control
        Slope
        Off-road
    HiTechnic Version
        Reponse to Disturbance@YouTube NEW!