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Balancing Robot

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Uploaded on May 30, 2011

(Sorry for the poor video quality, the mess on the mantle and the piano practice in the background. Close-up photo is on http://randomsoftware.com/richard/rob...)

This is probably the coolest thing I've ever built. It's a two-wheeled balancing robot with a custom remote control that lets the user drive it around like a toy RC car.

Most parts are from Pololu. They include a Baby Orangutan driving two 100:1 micrometal motors; the Orangutan runs the PID control necessary to maintain balance, feeding in data from separate gyro and accelerometer boards through a crappy software kalman filter. Remote control consists of a pair of Wixels: one reading from a pair of potentiometers and sending their state to the other, which produces pulse-width-modulated digital outputs for the baby-o to read.

I swear, if I didn't have this black belt and kick people in the face regularly, I might think I was a geek or something. :)

The code is all up on http://www.randomsoftware.com/pub/rob... look for the "walker" subdirectory, with the transmitter's source in the "remote" subdir. (The other subdirs are for various other robotic projects.)

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