VertiBOT is lightweight balancing robot based on Arduino Nano. This educational project was built to investigate and understand sensor fusion using kalman and complementary filter algorithm and PID control in an unstable system.
VertiBOT is an inverted pendulum platform that remains balanced by means of two tiny motors, located in the bottom of the structure. The battery is attached in the top of the main body, while the electronics board is located near the rotation axis. The robot uses Arduino Nano (Atmeta328) to drive the motors and process feedback signal from 6 DOF accelerometer and gyro ADXL345/ ITG3200 to determine its current position. A wireless communication over Bluetooth is used to tune and check the signal response in Graphical User Interface software.