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.

5 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.

  2. Miu Alexandru

    I’m interested in the type of nema 17 stepper motors used for the balancing robot, if you could tell me some specifications or model…

    Best regards,
    Miu Alexandru

    1. Axel Post author

      I don’t know the specifications of those motors, I got them for cheap from eBay. I was actually the first time I ordered ore used stepper motors in any project. Those motors are 42 mm long and I think they are a little bit too small/week. I would recommend motors that are at lead 48 mm long for a balancing robot like this. Longer motors have more torque.


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