An honors mechanical engineering project from a group of thirteen at Australia’s University of Adelaide:
Many diwheels in the past have been human powered or powered by IC engines. This one is purely electric. It has additional functionality lacking in other models, including inbuilt dynamic lateral stability and slosh control to prevent “gerbiling” or tumbling in aggressive braking or acceleration maneuvers. The diwheel also incorporates a unique feature that allows the rider to drive the vehicle when “upside down” – keeping the vehicle in its unstable state is achieved using a combined swingup and inversion controller. The mechanical design and some of the electronics was completed in 2009, with the majority of the electronics and control systems developed in 2010.