I taught a bicycle to balance itself
My computer science bachelor's thesis put active-steering balance control on a full-size bicycle. I inherited the hardware, then wrote the BeagleBone software, control loops, and timestamped logging used to tune it.
In the final documented test, the bicycle balanced for more than a minute at a fixed target speed on level pavement. An operator ran nearby for safety and used a remote to trim and steer it, which is an important boundary on the result.
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