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    Self Balancing Robots

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    Duruseti Srija

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    © All Rights Reserved
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    Self Balancing Robots

    Uploaded by

    Duruseti Srija
    14 views5 pages

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    © © All Rights Reserved

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    Download as docx, pdf, or txt
    14 views5 pages

    Self Balancing Robots

    Uploaded by

    Duruseti Srija

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
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    Self-Balancing Robots

    Duruseti Srija

    May 05, 2024

    Introduction

    In the realm of robotics, there are various types such as


    humanoids, robots, gyrobots and more. However, for our
    current task, let's narrow our focus to balancing robots,
    particularly those with one or two wheels, with an
    emphasis on the latter. These two-wheeled robots show
    great promise and may become a standard for everyday
    robotic locomotion in the future. Ensuring stability control
    is paramount in the development of gyrobots, humanoids,
    and other robot types.

    Keywords wheels to counter deviations in the


    inclination angle. For the sake of
    1. Model definition simplicity, the model represents a
    2. Control theory single degree of freedom, primarily
    3. Controllers concentrating on motion along a
    4. Hardware used defined axis, thus establishing a
    5. Kalman filter fundamental framework for additional
    6. Sensors exploration and analysis.
    7. Actuators
    Control theory
    Model definition
    Considering the model defined
    Self-balancing robots employ
    principles similar to those of an
    inverted pendulum. This conceptual
    framework involves viewing the
    wheels as a cart and the body as the
    pendulum pole, effectively mimicking
    an inverted pendulum scenario. The
    primary goal is to maintain stability by
    precisely adjusting the positions of the
    The free body diagram of the integral, and derivative terms to
    robot looks like this. achieve stable performance

    Hardware used

    1. Arduino Uno board


    2. Brain (Microcontroller)
    3. Motors
    Also from the figure, it's evident 4. Sensors
    that the entire motion of the 5. Actuators
    body hinges solely on two 6. Power Source
    variables: velocity (v) and the 7. Body (Chassis and
    angle of inclination (ψ). Frame)
    8. Communication Devices
    By solving we get
    Kalman filter

    A Kalman filter improves angle


    accuracy, validated through
    testing with minimal delay and
    noise below 0.03 degrees.

    Sensors

    Sensors serve as the robot's


    senses, providing information
    about its internal and external
    Controllers states. Proprioceptive sensors
    monitor internal conditions,
    Controllers are a crucial aspect of self- while exteroceptive sensors
    balancing robots, providing the means observe the external
    to regulate their motion and maintain environment. Examples include
    stability. light sensors, sonar sensors,
    laser sensors, LIDAR, and visual
    PID Controller: A Proportional-Integral- sensors.
    Derivative controller is a common
    choice for stabilizing self-balancing A robot can be likened to a
    robots. It adjusts motor speeds based human in some ways. Just as
    on deviations from the desired humans rely on their five senses
    orientation, using proportional, to perform actions, robots
    receive various signals and tasks. Hydraulic actuators,
    generate output accordingly. driven by hydraulic fluid
    pressure, deliver high power
    SENSE  THINK  ACT outputs and are suitable for
    heavy-duty applications.
    Actuators Pneumatic actuators, powered
    by compressed air offer
    Actuators convert control
    reliability and efficiency making
    signals into physical motion,
    them suitable for various
    enabling the robot to perform
    robotic task
    source: pinterest
    References

    Hellman, H., & Sunnerman, H.


    (2015). Two-Wheeled Self-
    Balancing Robot: Design and
    control based on the concept of
    an inverted pendulum
    (Bachelor's thesis). KTH, School
    of Industrial Engineering and
    Management (ITM), Machine
    Design (Dept.).

    source: pinterest

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