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Published on Sep 1, 2013
this balance robot hear uses a simplified kalman filter to fuse accelerometer and gyroscope data. then a digital state-feedback controller calculates proper speed of each motor (stepping motors) to keep the robot in balance and to move it as required. the robot uses stepping motors instead of dc-geared motors so the mathematical model of conventional balance-robots is not valid hear. that's because the output torque of a stepping motor is not easily controllable as in dc motors. on the other hand the rotational speed or shaft position is precisely controllable in stepping motors.