nBot: A Two Wheeled Balancing Robot

Posted 25 May 2003 at 22:15 UTC by steve Share This

We've reported on David Anderson's nBot in the past but several readers have submitted the latest news: nBot was selected as NASA's Cool Robot of the Week. Having had several chances to see and play with nBot in person, I can verify that it's truly a cool robot. A couple of other photos of nBot can be found on the DPRG website.

Sensor source code for a balancing robot, posted 27 May 2003 at 16:51 UTC by hudson » (Master)

I've written a short example of how to use a Kalman filter to produce a tilt angle estimate from a gyro and accelerometer. tilt.c and tilt.h have comments that explain the techniques used in the filter. If you're building a balancing robot, this is an easy way to avoid buying the expensive Microstrain FAS-G sensor that Dave Anderson used in nBot.

There are lots of other Kalman filters that I have written, but they are not as well documented as the 1 axis version. fast_ahrs.c is a full three axis, nine sensor attitude and heading reference filter hand optimized to run on a small microcontroller. gpsins.cpp is a GPS aided INS with 17 states. AHRS.cpp is an easier to read version of the 7 state AHRS code. All the source code is Free Software under the terms of the GPL.

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