The progress so far of developing balance in a full size hybrid robot - a humanoid style robot with wheels instead of feet.
This first attempt uses classical control - a PI loop - that was manually tuned to provide a benchmark against more sophisticated techniques that are still under development.
The robot is powered with EC90 #maxonmotors at the knees and hips and uses a Bosch BNO055 IMU to detect movement and pose.
This work will be extended in the development of the Obwalden Overlord 2 which aims to compete in the next season of #Battlebots!
Thanks to Sarah Malyan for editing this compilation video together and adding the sound effects!
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