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 For the sake of simplicity, the model
represents a single degree of freedom,
1. Model definition primarily concentrating on motion along a
2. Control theory defined axis, thus establishing a fundamental
3. Controllers framework for additional exploration and
4. Hardware used analysis.
5. Kalman filter
6. Sensors Control theory
7. Actuators
Considering the model defined
Model definition
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 The free body diagram of the robot
adjusting the positions of the wheels to looks like this.
counter deviations in the inclination angle.
Hardware used
1. Arduino Uno board
2. Brain (Microcontroller)
3. Motors
4. Sensors
5. Actuators
6. Power Source
7. Body (Chassis and Frame)
Also from the figure, it's evident that 8. Communication Devices
the entire motion of the body hinges
solely on two variables: velocity (v) Kalman filter
and the angle of inclination (ψ).
A Kalman filter improves angle
By solving we get 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 states.
Proprioceptive sensors monitor
internal conditions, while
exteroceptive sensors observe the
external environment. Examples
Controllers include light sensors, sonar sensors,
laser sensors, LIDAR, and visual
Controllers are a crucial aspect of self-
sensors.
balancing robots, providing the means to
regulate their motion and maintain stability. A robot can be likened to a human in
some ways. Just as humans rely on
PID Controller: A Proportional-Integral-
their five senses to perform actions,
Derivative controller is a common choice for
robots receive various signals and
stabilizing self-balancing robots. It adjusts
generate output accordingly.
motor speeds based on deviations from the
desired orientation, using proportional, SENSE THINK ACT
integral, and derivative terms to achieve
stable performance Actuators
Actuators convert control signals into
physical motion, enabling the robot
to perform tasks. Hydraulic actuators,
driven by hydraulic fluid pressure, compressed air offer reliability and
deliver high power outputs and are efficiency making them suitable for
suitable for heavy-duty applications. various robotic task
Pneumatic actuators, powered by
source: pinterest
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.).
