Balance robot
August 25, 2013
This balance robot that i've built uses two stepping motors as drive system. the main control algorithm is some sort of full-state feedback which was tuned experimentally ( deriving mathematical model for a balance robot that uses stepping motors is not straight forward...)
It cane move over slopes and carry unbalanced loads (center of mass dislocation)
The IMU's functionality is based on MPU6050 and a simple version of Kalman filter (executable on an ordinary microcontroller)