Striving for Vertical
I am working on a project to build a two-wheeled, self-balancing robot that uses Linear Quadratic Estimation (specifically, the Kalman Filter) in order to make continuous corrections to its angular velocity to stay upright. As I am developing the project, I am writing a comprehensive paper that details the theory and practice of building the robot. This paper can be downloaded below. Please reach out to me at jonathan.lee.rossi@gmail.com if you have questions about the project, or are building a similar project of your own and want to discuss!
This video demonstrates an initial check to ensure the IMU (Inertial Measurement Unit) is working properly. I use the on-board DMP (a built-in data fusion tool that is okay for diagnostics but which we will replace with the Kalman Filter) to get a visual representation of the IMU's data as the robot moves around.
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