2023/01/12

RoboMaster 2023 Two-Wheeled Self-Balancing Standard Robot

This is a two-wheeled self-balancing robot with a 2DOF gimbal and a fly wheel projectile launching system. The balance control utilizes a linear quadratic regulator (LQR) with a dynamic model built using the Lagrange’s method. The control code is open sourced as below.

Demos

General Motion

Active Disturbance Rejection