Two-wheels Self-balancing Robot Using Stepper Motors (V0.98S)

This is an extension of the two-wheels robot that I had built in 2017:
https://www.youtube.com/watch?v=TI-Y9vrfFL0&t=44s

Some minor progress since then, i.e. I have added a head with two degrees of freedom with a camera and video processing (e.g. machine vision module), migrated from analog accelerometer and gyroscope to the popular MPU6050, improved on the control algorithm with better speed compliance when moving forward and reversing, and overall smoother movement. One of the improvements is the use of quarter-step mode for the stepper motors, originally I used half-step mode which result in larger vibration.

The design details of the robotic platform can be obtained here: https://github.com/fabiankung/Two_Wheels_Robot_V0_90S_OS
The machine vision module https://fkeng.blogspot.com/2016/01/

Видео Two-wheels Self-balancing Robot Using Stepper Motors (V0.98S) канала fkungms