The robot is kind of balancing...
Really just using wild guesses for the PID parameters. The ones from my simulation don't work too well. The robot could be improved by having bigger wheels and higher angular inertia. An attempt was made to isolate the vibration of the motors from the body by using rubber mounts. The accelerometer was also mounted on a foam pad on a chunk of metal which in attached to the wooden chassis. In theory the miss match of materials with different acoustic properties would cause the vibration to be reflected. In practise, given the size, it probably would only impact higher frequency mechanical vibration.
Another vid...
