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For now, I’m going to make a balancing bike robot which uses a wheel mounted perpendicular to the main drive wheel so it can drive sideways to steer.
After fiddling for a day getting the Wii nunchuck and motion plus to play nice all it took was a little more time to code up the self balancing routines.
Two PID algorithms provide predictive correction, first by analyzing the wheel motion, then feeding that data into the second which uses the IMU feedback.
It must be a week for Wiimote hacks, as there are two interesting implementations of Nintendo's wireless motion-sensitive controller on offer today. First up comes… ...
CMU’s scientists managed to get a robot to daintily scale a narrow beam by leveraging hardware often used on spacecrafts.