Selfbalancing robot (Arduino and open sourced)

In the video you can see that the robot stays at roughly the same spot on the floor and handles a lighter push without any problem. To achieve this I have two cascade PID controllers and low pass filter on both wheel speed and the robot’s angle.

More info and component list on … ing-robot/


Cool robot! Thank you for posting it. Thanks for putting up your source code on Github! Maybe you could use a Wixel and Wixel Shield for wireless control?

- Ryan

Thanks. I will have a look at the wireless control.

Btw, I did an upgrade on this robot today: … nde-robot/

Made it handle being pushed much better.