Balancing robot rebuild

I have rebuilt my balancing robot. The reason was that I wanted to fit more sensors and functions, and there where no space for that in the previous design. I have also rewritten all the code and replaced the Kalman-filter I previously used for angle estimation with a complimentary filter instead. This in combination with a higher center of mass have made the robot a lot more stable and tolerant against pushes and other disturbances.

A Kalman-filter should work better than a complimentary filter, but the Kalman-filter is a lot more complicated. Since I do not understand exactly how the Kalman-filter worked, it was to hard for my to tune it properly. The estimated angle of the robot was reacting to slow. My current solution with a complimentary filter is much more responsive. That allowed me to increase the parameters of my PID regulators to make the robot more stable.

3 thoughts on “Balancing robot rebuild

  1. Alejandro Ramírez

    Hi, I have seen your videos about the balancing robot, I am from Mexico and I would like to make a similar one. I am studying and I want to apply my own controllers (I & I or back stteping). Thank you very much for sharing your knowledge. The multisensory integration that you have made seemed incredible. Can I use your video to make my own robot?
    Making my own robot would serve to reaffirm everything I have learned, once again thanks for sharing your applications.

    Best regards
    Atte. Alejandro.

    1. Axel Post author

      I am not very satisfied with this robot. It is way over complicated with multiple Arduinos for no good reason, not a very good solution. Therefore I have not posted any details like schematics or code for it. It is not worth replicating. Instead, take a look at this balancing robot:

      It is a much better electronics solution. And I have published the code for it. If you like the design and size of the one better, you could still build a similar one, and use the electronics from the smaller 3D printed robot.


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