ROS Balancing Robot

Currently in development, this balancing robot builds on the foundation of the first version while retaining key features such as real-time processing via a Teensy microcontroller, orientation data from an MPU6050 sensor, and a Kalman filter for accurate sensor fusion. The robot continues to utilize a PID control loop for balance, driven by NEMA 17 stepper motors through DRV8825 drivers. This iteration introduces several advancements, including a modular, redesigned enclosure for easy access and modifications. Additionally, it integrates a mini PC running Linux with ROS and an Intel RealSense depth camera, enabling autonomous environmental perception through point cloud mapping. A cooling system has also been incorporated to optimize thermal performance during extended operation.