It was about three years since last time I built a robot. I have learned a lot of things since then, now it is time for a new robot project. Now I have built a self balancing robot based on Arduino. This robot uses stepper motors, the balancing is done using a PID regulator. In this video, the setpoint angle is adjusted proportionally to the speed of the motors to keep the robot from drifting away. Later I will add a second PID regulator for this instead.

Currently the robot can only stand still, but this will be a platform for more experiments in the future. There is a Raspberry Pi 2 installed in the robot. Right now it does nothing, but it will bu used to persorm higher level functions like navigation, obstacle avoidance, remote control and maybe computer vision using the raspberry pi camera module.