Gyrobot a Two Wheel Balancing Robot Larry Barello http://www.barello.net/Robots/Gyrobot How Balancing Works Sense tilt and drive wheels to make robot erect. Easier to balance high GC object. The Devil is in the details. Balanced Tilted How Balancing Works Restoring Torque = * K
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K = weighting factor (1%)
Presumably we can use the acceleration of the robot to infer the angle of tilt and correct for gyro drift. (Note: Moment arm not included, formulas must be wrong)
In short, it doesn’t do anything interesting yet.
Robots & controls
Pendulum Joe http://leiwww.epfl.ch