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Unread 02-05-2005, 16:36
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Kevin Watson Kevin Watson is offline
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Re: Self-Balancing 2 Wheeled Robot

Quote:
Originally Posted by MikeWasHere05
What I need is a gyroscope, although of all the researching I've done of balancing robots people have used both gyroscopes and accelerometers. Will just a gyroscope be sufficient? Does anyone know a good/cheap gyroscope/accelerometer that I would need?
This is the classic inverted pendulum problem that is given to countless college students each year. You'll need to implement a Kalman filter that'll filter noise, perform sensor fusion and spit out a state estimation. As you've already found out, you'll need a gyro and an accelerometer that's sensitive down to zero Hertz (i.e., gravity). Sparkfun has a gyro/accelerometer board that looks good. The part number is ACL-IMU-203.

-Kevin
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Kevin Watson
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