Inverted Pendulum Balancing Robot Montage

[ALECEMA]

HELLO FRIEND I WOULD LIKE TO LEARN TO MAKE THIS ROBOT I AM FROM MEXICO ILIVE IN A LITLE TOWN OF MEXICO, CAN YOU SHOW ME PLEASE? I AM STUDING ELECTRONIC ON MY SCHOOL MY E MAIL IS pokt_ups@hotmail.com

[superjoystick]

give the video thumbs down if you wanted him to hit the ramp

[11Cicca]

what program did you use to control?

[seanpaul320aaa]

what the cost this machine ? how many kgs can handle?

could you explain the parts need I ll Buy here in Japan and try do one thanks

dayasyougo56@yahoo.co.jp

[speeddemon370]

Really smooth, you can't even see it correcting. Looks like some really pro work. Inspiring to a novice like myself. Thanks.

[bobcook28]

Wow, very cool!!

Are you at Caltec or is this your job?

[eddysnow]

Hi

you have this motor: GM9236S021

what do You tink waht is the minimal Toruqe requierd to contruction like yours?

nice work!

[edu40000]

Fantastic!! I'm trying to do something like that, I don't know why do you need motor encoders. What do you use them for??

In the PID control you need the angle (sending the gyro and the acceleremeter data to the kalman filter you got it). And then what do I have to do? Can you draw a diagram for me, so I could see the closed loop from the PID.

Thanks!

[derek0456]

Congratulations guys, that is really impressive. Check out my two dimensional inverted pendulum which balances on a sphere instead of two wheels by searching "tipsy 3 robot."

[BigPooKiller]

haha, looks like a segway :p

nice work btw

[zspikes]

nice work!! congratz!!

did you documented the making of the bot? i would like to see hoy did you do it ;)

[NicktotheT]

nice work! What micocontroller did you use?

[justinm]

At the end of the video all of the parts are listed. It's an STR711 ARM7. It's Overkill, but I had the dev board.

[ch053n1]

do it ur self ( commenters ), ..

Very smooth movement, nicely done !

[simoxina]

Justin what motor did U exactly used?

[justinm]

They are 24V Pittman DC gear motors, 19.1:1 gearing ratio, with encoders on the motors. I bought them from a colleague, so I don't have a source on them. I believe the part number is GM9236S021.

[vbrazen]

@justinm Did you need to find out the motor constants Km & Ke? How did you determine them precisely?

[filosofyphreak]

why not use 4 wheels??

[justinm]

I guess that kind of takes the fun out of it.

[deschaton]

why not use 3 wheels??

[knabbers]

the point of the robot was to use 2 wheels - to balance...

[Doublehp]

@filosofyphreak Why don't you walk on your hands ? why do you stand "up" ?

[McClover]

Motors?

[luckylucassen84]

AWESOME

[271828183141592654]

This is great!

[smclane6]

very nice! I am planning to build something very similar accept RC controlled. How can I learn more?

[JoeSellman101]

Now turn it into a vacuum and kids will LOVE to vacuum lol.

[stiiigert]

lol what's the point of making the vacuum cleaner balance? why not just use the already invented automated ones?

[JoeSellman101]

Lol, beats me. Maybe they can chase the cat or dog around with it. lol

[iLickedYourFood]

Seg Way lol?

[si13567]

I like the way the pitch changes on the guitar riff just before attempting the incline - sort of like winding it up a gear. Intentional?

[fluffynotfatboi]

just a little extra time on your hands..

[urmish]

gr8 work

can u pls tell me wat motor u hav used for d project wid some specifications...

[Danielkwalsh111]

What happens if it falls over?

[firebrain1]

Hi. where can I buy a PID controller?

[free24601now]

Hi. What is the appoximate weight of the whole robot? What's the spec on those motors? (rpm, v, torque, gear ratio...or a part model number would do I suppose for a lookup). Thanks.

[roboman79]

grate song and a grate robot!

[besiktasli9]

cool, another perfect example using fuzzy logic

[justinm]

There is no fuzzy logic controller. It is all PID based. Fuzzy control may be more robust, but I think it's overkill in this application.

[sambo354]

thts very kl make it look like a brush then driv it out of a broom cubourd scare the crap outta some one

[Windkind0]

The song is "La Grange" from ZZ-Top

[ismaelbs18]

WHAT'S THE NAME OF THE SONG?

[ismaelbs18]

WHAT'S THE NAME OF THE SONG?

[cristianremingtonjm]

Wow, that's very impressive!!

Does it use a microcontroller or a DSP?

[justinm]

It's controlled by a STR711 - an ARM7 microcontroller.

[cristianremingtonjm]

Thanks man. Nice control you got there.

[Miktor]

Very balanced. Very nice work there!

[xXSamariterXx]

no there are 100000000 different ways.... idiot -.-

[DrLsw]

isnt that the same way they balance the segway?

[capra120]

Very impressive, check out our "Proyecto Equilibrista Electronica ITCR"

[dannygirsh]

just strap a skateboard to it and sell it

[Caleb6543]

Very smooth ... the others I've seen on YouTube seem a bit jittery. Nice work.

[electronige]

lol looks like a danceing brush ,but no really nice work

[rodstartube]

congrats!

[IvanIllyn]

Fantasy!

Like the tightrope dance!