The "BalRob" (Balancing Robot) is a robot that moves on only two wheels. Therefore, a controller is needed to stabilise the robot and thus prevent it from tipping over. The heart of the project is a Raspberry Pi, on which various control algorithms can be implemented and tested. This provides the control signal for the two stepper motors, which in turn drive the wheels.

An IMU (acceleration sensors and angular rate sensors) provides measurement data to determine the current state of the robot. The BalRob can be connected to a smartphone via Bluetooth and driven through space while the stabilising controller is constantly engaged. In principle, the BalRob is similar to a Segway, so the stabilising control algorithms are also used in practice.


In this video, a smartphone controls the movement of the robot, which only moves on two wheels and is stabilised by the controller during the journey.

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Video: Balancing Robot


Projektass. Dipl.-Ing. Lukas Stanger BSc

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