Balancing robot with stepper motors

One of our customers built this six-foot tall balancing robot. The main microcontroller is a Teensy 3.6, and the stepper motors are driven by ST-M5045 drivers. For its drive train it uses two 3 A stepper motors connected to Pololu 90 mm wheels via Pololu universal aluminum mounting hubs.

Here’s what they have to say about using stepper motors:

I used stepper motors to take advantage of high torque at low RPM and zero backlash. This allows very steady stand-still performance. But dealing with the stepper-induced mechanical vibration was an issue. This was mostly solved with analog filters on the IMU and with an Extended Kalman Filter in software.

Additional description and pictures are available on the project page.

Related products

	Pololu Wheel 90×10mm Pair - Red
	Pololu Universal Aluminum Mounting Hub for 1/4″ (6.35mm) Shaft, #4-40 Holes (2-Pack)