Let's Make Robots!

Kalman Filter

Discuss general guidelines for self-balancing robots

I'd like to start a discussion to collect general knowledge of what to do and what not to do when building a two-wheeled self-balancing robot (SBR for short).  My hope is that this thread can become a somewhat comprehensive set of guidelines to help beginners and non-beginners build their first balancing robot or  achieve a more stable and successful subsequent design.  Things that I would like to understand include:

A comparison between Kalman and Complementary filter
Using a
The use of accelerometer and gyroscope to build little robots, such as the self-balancing, requires a math filter in order to merge the signals returned by the … Read more
My second balancing bot built with the help off Kas guide Balancing robot for dummies(http://www.x-firm.com/?page_id=145) that i'm hosting on my server.. The v2 is … Read more
Updated with a 2nd video! Code is now uptodate and can be found at: code.google.com/protobot. Read more

Some cool documents about Kalman Filter

Ok, i started doing some tests with my IMU module. It turns out that, while it is has very low noise while standing still, is suffer greatly from the robot vibration and movements.. Some research was in the need :)

The infamous Kalman Filter :)

So maybe any of you heard about it, but is there anyone who have made a working implementation?

Or eventually a nice site with a human readable explanation :) ?