No Gyro, AI powered… WOW.
Even without a gyro, an ultra mobile vehicle robot can maintain balance by:
- Using alternative sensors (accelerometers, encoders, vision) to estimate its state.
- Fusing sensor data via filters (complementary/Kalman) to get a reliable tilt estimate.
- Implementing a state-based controller (using a finite state machine or continuous control law) that applies different corrective actions based on the current state.
- Optionally, incorporating AI to adaptively optimize these control strategies over time.
This approach, though challenging due to the absence of direct angular rate measurements from a gyro, is feasible with careful design and robust sensor fusion. the robot in the video uses a similar combination of sensor fusion and state-based control to keep itself balanced. AND YES the IMU uses INTERRUPTS go figure … LOL 