2022/08/07

Two-Wheel Self-Balancing Robot Prototype

This is the prototype I built for achieving self balance on a two wheel robot using triple cascade feedback PID control. This robot can recover to the “standing position” when it falls, and can resist high external disturbance such as pushing, or when bumped into the wall.

Demos

General Functions

Accelerating & Braking

Forward & Backward Spinning

Recoverability when Bumped into the Wall