Higher designed the Halo brushless gimbal for the film industry, enabling stabilised footage to be shot either handheld or with a drone.

Undertaking hardware modifications and developing a sensor fusion algorithm, Robotae produced the software to give the gimbal smooth motion.

Our initial analysis of the system led to a few hardware modifications to allow control to be feasible with such a high moment of inertia mismatch between the motors and the load.

We developed a sensor fusion algorithm to combine the gyro, accelerometer and magnetometer data to give a low latency, low drift attitude estimation.

The attitude estimator feeds into a nested closed-loop motor controller, which provides the stabilisation and smooth pan and tilt using a jerk-limited profile generator.

Brushless gimbal designed to provide steady shots from moving camera