The basic idea for a two-wheeled dynamically balancing robot is pretty simple: drive the wheels in the direction that the upper part of the robot is falling. If the wheels can be driven in such a way as to stay under the robot’s center of gravity, the robot remains balanced. In practice this requires two feedback sensors: a tilt or angle sensor to measure the tilt of the robot with respect to gravity, and wheel encoders to measure the position of the base of the robot.
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