Building a Self-Balancing Robot Made Easy

Not only has [Joop Brokking] built an easy to make balancing robot but he’s produced an excellent set of plans and software for anyone else who wants to make one too. Self-balancers are a milestone in your robot building life. They stand on two-wheels, using a PID control loop to actuate the two motors using data from some type of Inertial Measurement Unit (IMU). It sounds simple, but when starting from scratch there’s a lot of choices to be made and a lot of traps to fall into. [Joop’s] video explains the basic principles and covers the reasons he’s done things the way he has — all the advice you’d be looking for when building one of your own.

He chose steppers over cheaper DC motors because this delivers precision and avoids issues when the battery voltage drops. His software includes a program for getting a calibration value for the IMU. He also shows how to set the drive current for the stepper controllers. And he does all this clearly, and at a pace that’s neither too fast, nor too slow. His video is definitely worth checking out below.

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Rolly Bot Puts a New Spin on Independent Wheel Control

rolly bot

All of [Darcy]’s friends were making wheeled robots, so naturally, he had to make one too. His friends complicated theirs with h-bridges and casters for independent wheel maneuvering, but [Darcy] wanted something simpler. A couple of 9g servos later, the Rolly Bot was born.

Rolly Bot is self-balancing because of its low center of gravity. Should it hit a wall, the body will flip over, driving it back in the other direction. The BOM comes to a whopping $10, and that includes continuous rotation servos. It does not include the remote control capability he added later, or the cost of the CNC you would need to completely replicate this build. He even made a stand so he could test the wheels during programming.

[Darcy]’s code is on his site along with some pictures of another version someone else built. Watch Rolly Bot roll around after the jump.

How would you make this build even simpler? Tell us in the comments.

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Two-Wheel Balancing Robot Revived from the Dead

Capture

[Jouni] built a pretty nice little two-wheeled robot a while back — but he never got it working quite right. Taking inspiration and a bit of opensource code from another hacker featured here, he’s finished the bot, and it works great!

After seeing [Jose’s] 3D printed Air Hockey bot, he poked around the creator’s blog and discovered the B-Robot, a 3D printed, two-wheeled, stepper driven, balancing robot. As it turned out, it was incredibly similar to a robot [Jouni] had made himself previously!

[Jouni’s] robot features two NEMA-17 steppers, a 12v 2200mAh battery pack, an Arduino Pro Mini, a MPU6050 gyro and a FrSky receiver. Lucky for him, [Jose’s] B-Robot made use of the same steppers and gyro! Using some of [Jose’s] code from his GitHub, [Jouni] was able to bring new life into his little robot!

We’ve included videos of both the original project, and [Jouni’s] version. Aren’t opensource projects awesome?

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