Two Wheeled Self Balancing Robot - zDOT & Grimblebot

This is the second video of my attempt at creating a two wheeled self balancing robot. This video contains clips of my two devices which I have submitted as my third year project at the University of Reading.

The first device is called zDOT and uses a two-axis accelerometer (ADXL202) and a solid state gyroscope (ADXRS300) combined in a Kalman filter. These inertial measurements, along with feedback from the motors, are used to calculate the appropriate motor duty cycle using an optimal gain matrix derived by modelling the system.

The second device is called Grimblebot and takes a different approach. It uses ultrasonic sensors and a PID controller to maintain a constant distance between the sensors and the ground beneath them.

Category:

Education

Tags:

• zDOT
• Grimblebot
• University
• Reading
• Third
• year
• project
• two
• wheeled
• self
• balancing
• robot
• device
• segway
• inverted
• pendulum