The PID balancer is a baseline agent designed to test an Upkie quickly. The robot balances with its wheels only, following PI feedback from the head pitch and wheel odometry to wheel velocities, plus a feedforward non-minimum phase trick for smoother transitions from standing to rolling. The code is factored into a wheel controller, doing the actual balancing, and a leg controller holding the hip and knee joints in place.

Simulation

To test this agent in simulation, run:

bazel run //pid_balancer:bullet

Real robot

To run this agent on a real Upkie, start a mock or pi3hat spine as you would do for any agent, then run the main script:

python pid_balancer/main.py