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# Questions tagged [balance]

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4 votes
5 answers
2k views

### Alternatives to Kalmam Filter

I am currently working on a self balancing robot project. I am going to use a MPU6050 to get data from both the accelerometer and the gyroscope. Since I need to get accurate data in a very small ...
1 vote
0 answers
51 views

### Balance 2-wheels robot without making it drift forward/backward

I'm trying to design a controller to balance a 2-wheels robot (around 13kg) and making it robust against external forces (e.g. if someone kicks it, it should not fall and not drift indefinitely ...
0 votes
1 answer
138 views

### Implementing Dynamic Balancing on Robot Dog

I made a robot dog using Lewansoul LX-16a Smart Serial bus motors and a 3D printed body. I am using an Arduino Mega 2560 to control everything. I already have the inverse kinematics working. But for ...
0 votes
2 answers
524 views

### Loop time for self balancing robot

I have been working on a self balancing robot and there are quite a few parameters and one of them is loop execution time (t_loop henceforth). To my understanding, the smaller t_loop, the better it is ...
1 vote
3 answers
404 views

### What PID values should I keep?

I have built quadcopter but the problem is of balancing. It doesn't goes up. I am using PID technique for balancing. But I am not finding the suitable values for PID tuning. I am using mpu6050 as a ...
1 vote
1 answer
196 views

### How to balance a humanoid robot on one feet?

For a school project, I have designed and assembled a bipedal humanoid robot. The robot is roughly $54$cm tall, with the width(distance between two legs) at $20$cm. The parts that make up the robot ...
0 votes
1 answer
512 views

### Finding center of mass and support polygon for quadruped robot

I intend to find the center of mass of a quadruped robot and find the convex of the CoM inside the support polygon. I want to make a model of this, which is further going to help me develop stable ...
0 votes
1 answer
109 views

### Is Ultrasonic Self Balancing Robot Possible?

a quick question, can i make a SBR using UNO and two HC-SR04 knowing that this configuration offers a 1.36 mm resolution (i.e it increment 1.36mm) ?
1 vote
1 answer
37 views

### How to balance a long vertical bar

I have a mobile base (1400x1800x400 mm) which has a vertical bar (1) mounted on its geometric center; this vertical bar has a length of 2500 mm and a diameter of 100 mm and I need to keep it always in ...
0 votes
1 answer
59 views

### Walking on the spot before moving

my question revolves around 4 limbs robot ( but maybe even 2 limbs ) walking. As i see in many videos robots start "walking on the spot" in order to balance before actually moving somewhere. Why is ...
5 votes
2 answers
393 views

### Should I use an arduino to control my balancing robot's motors?

I'm building a 2-wheel balancing robot from old parts. DC motors from an old printer, wheels from a BBQ, bodywork from an old optical drive etc. The brain of the robot is a Raspberry Pi 3. I'm using ...
1 vote
2 answers
810 views

### How to maintain a robot's center of gravity

I am on a robotics team where our robot has to balance on an unstable beam. However, at the same time, the robot must be able to reach to the side in order to grab field materials. What possible ...
0 votes
3 answers
2k views

### Balancing robot - How to control the velocity and angle

We are currently making a balancing robot as a school project. The robot has a gyroscope and an encoder to get the angle of the robot and the rpm of the wheels. By using the current angle of the ...
9 votes
2 answers
975 views

### Accelerometers in a self-balancing robot, can't we do better?

I'm currently reading on self-balancing robots that use an IMU (gyroscopes + accelerometers) to estimate their current tilt angle. Most documents that I have found say the same things: You can't ...
3 votes
1 answer
491 views

### How can I compensate for pendulum and cart motion when using an accelerometer to detect the tilt angle?

I have an accelerometer mounted to an inverted pendulum (i.e. a cart-pole robot) which I'm using to measure the tilt angle from the vertical upright position (+y direction). If the inverted pendulum ...
0 votes
1 answer
1k views

### Balancing robot tuning approach

I'm at the stage where I assembled a balancing robot and it's not maintaining a stable position. This is not a surprise I just started testing last night. My code is here, views of the device are ...
2 votes
2 answers
687 views

### How Should I tie My quadcopter to some thing, to adjust pid on one axis

I am stuck in adjusting the PID of my quadcopter, I cant adjust them on the fly because it just get out of control. I am adjusting them while attaching my quadcopter to something. Is this method ...
9 votes
1 answer
5k views

### How to balance a flying quadcopter?

I'm using my own code to create a quadcopter robot. The hardware part is done but I need to balance the copter. The original video demonstrating the problem was shared via dropbox and is no longer ...
1 vote
0 answers
68 views

### Theory behind wheeled inverted pendulum robots [closed]

I'm trying to get a deeper understanding of the theory behind wheeled self-balancing robots. Can anyone point me to a text on dynamic modelling and control theory that might help?
3 votes
2 answers
568 views

### Two-wheeled self-balancing robot - Choosing the control system

Would an Arduino Uno have the precision-timing required (using only firmware) to control a two-wheeled inverted pendulum robot, or would it need a RTOS? Note: Thanks for both answers, they both ...
0 votes
1 answer
331 views

### Can I model a 1D segway as a cart-pole system?

The equations of motion for a cart-pole (inverted pendulum) system are given as $$(I+ml^2)\ddot{\theta}+mglsin(\theta)+ml\ddot{x}cos(\theta)=0$$ (M+m)\ddot{x}+ml\ddot{\theta}cos(\theta)-ml\dot{...
7 votes
4 answers
2k views

### Optimal location of the center of mass for an inverted pendulum

I'm building an inverted pendulum to be controlled by DC motors, but I've run across a conundrum. Personal life experience tells me that it's better to have a lower center of mass to maintain balance....
0 votes
1 answer
206 views

### Why do I need an additional moment of inertia term in the cart-pole dynamics equation?

I'm trying to understand the dynamic equations for the cart pole system according to this control tutorial from the University of Michigan, where the angular acceleration equation can be written as \$(...
5 votes
1 answer
2k views

### Balance Bot PID tuning

so I am working on a Self Balancing Bot with Arduino Mega. I'm using 12V 200 RPM motors with built in 840 PPR quadrature encoders. The torque rating is as follows: Rated Torque: 2.4 Kg-cm Stall ...
4 votes
1 answer
2k views

### Finding Center of Mass for Humanoid Robot

I've been working on Humanoid Robot, and I face the problem of finding the Center of Mass of the Robot which will help in balancing the biped. Although COM has a very simple definition, I'm unable to ...
2 votes
1 answer
66 views

### What can this picture/data tell?

I've implemented a model of a ball-on-plate plant and am controlling it over a network. Below is the open loop output when excited by successive sinusoidal inputs with increasing frequencies. I know ...
1 vote
1 answer
87 views

### Where should I put the angle sensor on my cart-pole robot?

I'm using an accelerometer and gyroscope to detect the angle and tilt rate on my two-wheeled cart-pole robot. Is there an optimal height to place the sensors? Should I place them closer to the ...
0 votes
1 answer
99 views

### What factors should i consider when selecting a motor for a free wheeled cart-pole balancing robot?

I'm developing a small scale cart-pole balancing robot consisting of two wheels driven by a single motor at the base (essentially like a unicycle, but with two wheels to constrain balance to a one ...
25 votes
3 answers
4k views

### What algorithm should I use for balancing a two wheeled robot using a gyroscope?

Is there a good, popular and reliable algorithm I can use by taking input from a gyroscope and using this to control two independant wheels to keep such a balanced robot reliably upright? I'm looking ...