# UltraBalance

A modular robot balance and control framework for education and research.

## Features
- **State Estimation**: Kalman filter, complementary filter
- **Control Algorithms**: PID, LQR, adaptive control, impedance control
- **Path Planning**: A* global planner
- **Hardware Abstraction**: Simulator interface, real-time control loop
- **Pure Python**: Only depends on numpy and scipy

## Quick Start

Install the package:
```bash

 ```pip install ub-clean-test```

from ultra_balance import create_robot
robot = create_robot('two_wheel')
robot.start()

## Disclaimer

UltraBalance is an open-source educational and research framework provided "AS IS", without any express or implied warranties.

Before using this framework to control real robots, you must:
- Test thoroughly in simulation first
- Ensure physical emergency stop buttons exist
- Assume ALL risks and liabilities

THE AUTHORS AND CONTRIBUTORS ARE NOT LIABLE FOR ANY PROPERTY DAMAGE, PERSONAL INJURY, OR LEGAL DISPUTES ARISING FROM THE USE OF THIS FRAMEWORK.

## Disclaimer

This framework is provided "AS IS" for educational purposes. The authors are not responsible for any damage or injury caused by its use.