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Propeller based BalanceBot — Parallax Forums

Propeller based BalanceBot

sjptech17sjptech17 Posts: 2
edited 2012-06-17 08:37 in Propeller 1
I would like to share a video of my balancing robot. The robot is based on the Propeller chip, uses an IMU to achieve balance, and can move around via remote control. It can also travel autonomously using a PING sonar for object detection. The video on the link below shows the robot in action.

http://www.youtube.com/watch?v=MVS-XFs6unI

Comments

  • Duane DegnDuane Degn Posts: 10,588
    edited 2012-06-15 16:50
    That's so cool!

    I like how your robot can sense an obstacle even if the Ping misses it.

    Thanks for posting this.

    Welcome to the forum. I hope you stick around.
  • CircuitsoftCircuitsoft Posts: 1,166
    edited 2012-06-15 17:01
    Welcome to the forum and thanks for sharing.

    Looks like your PID loop could be damped just a little more, as the recovery after a bump/push is a little bouncy. Maybe you could use some sort of state-variable filter to get faster reaction without overshooting?
  • W9GFOW9GFO Posts: 4,010
    edited 2012-06-15 17:30
    Very nice!
  • Mark_TMark_T Posts: 1,981
    edited 2012-06-16 05:44
    Very cute. And it off-roads nicely!
  • John BoardJohn Board Posts: 371
    edited 2012-06-16 21:38
    Very nice! Really like this!
  • sjptech17sjptech17 Posts: 2
    edited 2012-06-17 08:37
    One clarification on the video:

    The first part of the video (phase 1) is excerpted from an earlier video made at the end of 2011. This is when I first succeeded in getting the BalanceBot to balance. The second part of the video (phase 2) shows the current BalanceBot with movement added as well as greatly improved balance algorithms. I have a more detailed description on my website www.art-of-invention.com under the robotics tab. At some point, I plan to take it to a skating rink to see how it performs on ice. Thanks for all the comments.
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