**LEGO ROTARY INVERTED PENDULUM**

This step-by-step building instructions to construct the rotary inverted pendulum was using a Lego Rechargeable battery box , but the system can work without problem connecting the GlideWheel sensors directly to the NXT Brick to use its power , so the battery box is optional.


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**STEP1**
  * 8x Technic 15M Beam
  * 16x Connector Peg W. Friction  

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**STEP2**
  * 7x Technic 13M Beam
  * 2x Technic 7M Beam 
  * 14x Connector Peg W. Friction                         
  * 2x Angular Beam 90Degr. W.4 Snaps 
  * 2x Connector Peg W. Friction 3M 

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**STEP3**

  * 7x Technic 13M Beam 
  * 14x Connector Peg W. Friction                         
  * 2x Angular Beam 90Degr. W.4 Snaps 
  * 2x Connector Peg W. Friction 3M 
  
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**STEP4**



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**STEP5**

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**STEP6**

  * 2X Technic 15M Beam                   
  * 5X Technic 13M Beam 
  * 2X Technic 9M Beam 
  * 2X Beam 3 M. W/4 Snaps
  * 18X Connector Peg W. Friction 

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**STEP7**

  * 2X Technic 15M Beam 
  * 5X Technic 13M Beam 
  * 2X Technic 9M Beam 
  * 4X Beam 3 M. W/4 Snaps
  * 18X Connector Peg W. Friction 

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**STEP8**



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**STEP9**

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**STEP 10**

  * 1x Cross Axle 32M
  * 2x Bush 
  * 2x Connector Peg W. Friction 
  * 2x Cross Block, 90 degrees
  * 3x Technic Cross Block/Fork 2X2

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**STEP 11**

  * 1x Cross Axle 32M
  * 2x Bush 
  * 2x Connector Peg W. Friction 
  * 2x Cross Block, 90 degrees
  * 3x Technic Cross Block/Fork 2X2
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**STEP 12**

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**STEP 13**

  * 9x Technic 15M Beam 
  * 2x Technic 9M Beam 
  * 6x Connector Peg W. Friction 
  * 12x Connector Peg W. Friction 3M 

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**STEP 14**

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**STEP 15**

  * 1x Power Function XL-Motor
  * 2x Connector Peg W. Friction 
  * 2x Connector Peg W. Friction 3M 

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**STEP 16**

  * 1x GlideWheel PF W/ motor Controller
  * 1x Cross Axle 6M
  * 2x Connector Peg W. Friction 
  * 2x Connector Peg/Cross Axle
  * 2x Technic 5M Beam
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**STEP 17**

  * 2x Angle Element, 90 degrees          
  * 2x Cross Axle, Extension, 2M
  * 1x Cross Axle, Extension M/3 Ribs 
  * 1x Cross Axle 3M
  * 2x Cross Axle 6M
  * 5x Cross Axle 12M
  * 1x Triangle
  * 5x Bush 
  * 2x ½ Bush 


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**STEP 18**

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**STEP 19**

  * 8x Connector Peg W. Friction 

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**STEP 20**
 
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**STEP 21**

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