balancebot

Yet another Lego NXT balancing robot. This one uses leJOS, an accelerometer and a gyro. For more details and the source code go to....
http://www.gloomy-place.com/legoindex.htm

Category:

Howto & Style

Tags:

• Lego
• NXT
• leJOS
• electronics
• gadget
• segway
• legway
• Mindstorms

[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,

[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

[tongtingtingtong]

very amazing! wow nice!

[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.

[DronElektron]

Homebuild accelerometer? Oo huh...

[bobobano]

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

[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.

[AlCoholic162]

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