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Balance Robot using DAGU 6WD

Posted on 04/10/2011 by anas
Modified on: 13/09/2018
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This is the first prototype of the Balancing Robot. In this version , I used two sharp sensors to control the motors.this is as first step till the IMU comes from sparkfun. I used Kalman Filtering to reduce the sensors noise. The PID parameter still need more tuning. i will upload the video after finishing the fine tuning. this picture is for the Geared motor with ratio 34:1 and the rubber tyres. the following picture is for the sharp sensor. I used 80cm type.


Balance Robot using DAGU 6WD

This is the first prototype of the Balancing Robot. In this version , I used two sharp sensors to control the motors.this is as first step till the IMU comes from sparkfun. I used Kalman Filtering to reduce the sensors noise. The PID parameter still need more tuning. i will upload the video after finishing the fine tuning.

this picture is for the Geared motor with ratio 34:1 and the rubber tyres.

the following picture is for the sharp sensor. I used 80cm type.

Balance on two Wheels

  • Actuators / output devices: 2 geared motors
  • Control method: PID
  • CPU: Atmega2560
  • Operating system: Arduino
  • Power source: 12V 4.5AH
  • Programming language: Arduino
  • Sensors / input devices: Sharp IR
  • Target environment: indoor
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