RoboMaster 2023 Two-Wheeled Self-Balancing Standard Robot
A two-wheeled self-balancing robot with a 2DOF gimbal, a flywheel projectile launching system, and LQR balance control.
2023/01/12
RoboMaster 2023 Two-Wheeled Self-Balancing Standard Robot
This is a two-wheeled self-balancing robot with a 2DOF gimbal and a flywheel projectile launching system. The balance control utilizes a linear quadratic regulator (LQR), with a dynamic model built using Lagrange’s method. The control code is open-sourced as below.
RoboMaster Two-Wheeled Self-Balancing Standard
Demonstrations:
- General Motion
- Active Disturbance Rejection