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Here is my current project and first post: Originally conceived with 4 wheels, half way through the build process I thought it would be cool to balance, so no casters yet. After a few weeks of fiddling with the IMU and Kalman filters, it outputs a good angle, but takes way to long to settle at the correct number. There is no way it will balance until a correct angle can be generated without a settling time. A dual omni wheel suspension system is in the works so that progress can be ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/the-house-bot