BALANDUINO

The Balanduino is a 100% open source balancing robot. It is Arduino compatible which means it is easy to upload new firmware to the board via a USB port in a user friendly environment. The robot balances using a combination of 3-axis accelerometer and a 3-axis gyroscope by the implementation of a Kalman filter to estimate the precise angle of the robot at all times. These angular informations are used in a PID-controller to estimate the speed of the wheels in order for the robot to stay upright. This allows the robot to balance steadily at all times even when hitting obstacles or getting pushed.