balancebot

[OveRSwE]

thats really crazy, so stable.. really well done... i tried building something similar to a segway, but it was nowhere near this stable. maybe because i didnt use kalman but rather complementary filter. do you use PID? how did you decide the controller parameters?

[gloomyandy]

@OveRSwE Yes the robot used a PID controller that was hand tuned both for the constant values and the update frequency.

[sagymboy]

you use the accelerometer to detect the angle correct?



[gloomyandy]

@sagymboy The accelerometer is actually combined with the gyro using a Kalman filter to produce angle and angular velocity,

[DronElektron]

Homebuild accelerometer? Oo huh...

[idioticrandomguy]

If I'm making a balancebot, do I want to buy a gyro-sensor or an accelerometer sensor? I would prefferably like to make one that can move around, not just stay in one spot.

[ddragon333]

@idioticrandomguy Once you've got it to balance try writing code to just knock it a little bit off center and then let the balance do its thing. That will move you small distances and it's not very hard to adapt this concept to move at a constant velocity.

[AlCoholic162]

cool... what'*s it for?? o_O??

[mindystorm]

THAT LOOKS LIKE A SOUND SENSOR

[gloomyandy]

@mindystorm Yes it is a home made accelerometer built into the case of a sound sensor. My web pages hav a few more details

[bobobano]

@mindystorm The link in the decription seems to no longer be valid, you may want to check and/or take it down.

[Feuerwehrler95]

which sensors have you taken???

(I'm an Austrian)

[rade95]

Awesome work. Have you thought of adding Wiimote for remote control of your NXT balbot?

[bubinasuit]

does the acelerometer work with balancing and if so is it just as good as the gyro

[ipullstuffapart]

i think it uses the light sensors

[Hampsterman4]

well then, what does it do with the gyro?

[tartanmusician]

That's pretty awesome!! I would reccommend the next step to be trying to figure out a way to make it mobile, while still maintaining balance when it stops...that could be the start of something very interesting!!!

[emordetzki]

Could you explain the use of the 2 sensors, the gyro and accelerometer? What's the objective of each one? I have seen similar designs with just the gyro which measures degrees/sec in one axis. I wonder what is the purpose of the accelorometer sensor (which measures g's in 3 axes, right?). Thanks!

[IlkkaPir]

Gyro drifts a lot. You need to get accelerometer information too to compensate that.

[Yavesguitar]

what is the prop to make the bot drive ?

[tongtingtingtong]

very amazing! wow nice!

[JonathanPWNSYouTub]

Very nifty! First lego segway i've seen written in java!