Balancing Robot Presentation

For more information, downloads etc. please see our blog post: http://blog.tkjelectronics.dk/2012/03...

The code for the mbed microcontroller can be found at the following page: https://github.com/TKJElectronics/Bal...

The Arduino sketch running the PS3 communiction can be found here: https://github.com/TKJElectronics/Bal...
The Arduino sketch is based around this PS3 Bluetooth library: https://github.com/TKJElectronics/USB...

Update: All of the code has now been ported and is working on the Arduino. So now it isn't necesarry to use both an mbed and the Arduino: http://blog.tkjelectronics.dk/2012/03...
This new code for the Arduino can be found here: https://github.com/TKJElectronics/Bal...

• Category

  Science & Technology

[Devin Kolarac]

How much was this project all together

[mindthomas]

It was about $500 for all electronucs modules, hardware and materials, including the different shipping to us.

[aepytus21]

Congratulations, great job!

Very snappy, powerful, stable, well-designed. PS3 controller via Bluetooth is the coup de grace.

[mindthomas]

Thanks a lot for the kind words.

[gw2Harpocrate]

Hey, I was just wondering how accurate would an accelerometer be to calculate distances since there will be some math processing making the micro controller busy? Would you choose an encoder over an accelerometer?

Thanks

[mindthomas]

I'm not sure if you are aware of the function of the accelerometer.

The accelerometer measures the acceleration in case of movement, but also the gravity on earth which corresponds to 1g of acceleration.

By using this 1g downwards gravity as a reference you can get a somewhat precise angle of your robot - as long as it is kept steady.

Because when it starts moving, acceleration due to this movement appears, which will interfear the 1g reference.

[Kristian Sloth Lauszus]

1. It was just a hobby project I made in my spare time.

2. You can find a list of components I used in the blog post: blog.tkjelectronics . dk/2012/03/the-balancing-robot­/.

3. As long as you release the code in the open source GNU General Public License I have no problem with it.

Note you should check out the newest version of the robot at Kickstarter: kickstarter . com/projects/tkjelectronics/ba­landuino-balancing-robot-kit and here is the newest code: github . com/TKJElectronics/Balanduino.

[Abd Rahim Sahraoui]

i am very impressed for this great robot !! but i have a couple of questions :

1-Is this a graduate project, or just a hobbie??

2-Can you send me a list of components that you used in this project ?? if yes .. send it to my email : sahraoui.arahim@gmail.com .

3-I am a master student in Robotics sciences .. I am going to graduate this year .. and i want to take permission from you to make a developed version of your robot as a graduate project !!! so please accept it.

[Kristian Sloth Lauszus]

In the newest version we use the MPU-6050. You can find more information out the Kickstarter: kickstarter . com/projects/tkjelectronics/ba­landuino-balancing-robot-kit and the source code: github . com/TKJElectronics/Balanduino/­tree/master/Firmware/Balanduin­o

[Kristian Sloth Lauszus]

I simply adjust the target angle. See the following update at our Kickstarter: kickstarter . com /projects/tkjelectronics/balan­duino-balancing-robot-kit/post­s/450808 and checkout the newest version of the source code: github . com /TKJElectronics/Balanduino/tre­e/master/Firmware/Balanduino.

[jesusstolemypants]

Very good video! Thanks for sharing your work - instant substitution.

Did you consider using the Wii Nunchuck for the rategyros/accelerometer?

I think they are cheaper, but I'm not sure about the specifications

[CatInTheHand]

How do you find out the steady state angle of the robot? I mean, if the centre of mass were not exactly vertical above the axle, but offset to one side a little, how do you compensate for that?

[021myrek]

Really impressive. Thanks for sharing details on this. Keep up the good work!

[nukapowered]

Great work! Looks very stable. I started on my self-balancing robot project few days ago using ArduIMU v3. And that's harder then it looks.

[Gepetronis TM]

wonderfull job, i really like this robot you built

[Александр Сергеев]

Очень хорошо!!!