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Self Balancing BS2 based Robot (segway like) — Parallax Forums

Self Balancing BS2 based Robot (segway like)

ArchiverArchiver Posts: 46,084
edited 2004-02-12 23:08 in General Discussion
Hi there, this is Pablo from Mexico City, I have created a robot
that will hopefully interest the Basic Stamp Community, I think it
might be the first of its kind, I have placed pictures and videos at
my webpage.

It is a self-balancing robot that resembles in some sort the working
principle of the Segway Human Transporter, it is an inverted
pendulum and it dynamically balances with the use of two motored
wheels.

On the videos it is using a BS2p24, I have managed to make it work
with a BS2 but it wobbles a bit more (less stable since polling
fequency is lower).

I hope you find it interesting, hope to hear from you...

http://www.microbotica.org/biway.html

I apologize since it isn't in english yet, hope the pictures and
videos are enough to understand the functioning.

Comments

  • ArchiverArchiver Posts: 46,084
    edited 2004-02-11 09:05
    From: "Juan Pablo" <juanpablocanguro@y...>

    > I apologize since it isn't in english yet, hope the pictures and
    > videos are enough to understand the functioning.
    >
    Es muy facil comprender, Pablo. El robot no se gusta Vegemite! Muy
    intelligente<g>.

    And that robot is impressive besides having good taste<g>. Congratulations.
    I am surprised that infrared sensors would let you maintain stability. Very
    well done. Does it matter greatly what surface it is on?

    Gary
  • ArchiverArchiver Posts: 46,084
    edited 2004-02-11 10:34
    Pablo,

    Good job! That is very interesting!

    Best wishes,
    Frank



    --- In basicstamps@yahoogroups.com, "Juan Pablo"
    <juanpablocanguro@y...> wrote:
    > Hi there, this is Pablo from Mexico City, I have created a robot
    > that will hopefully interest the Basic Stamp Community, I think it
    > might be the first of its kind, I have placed pictures and videos
    at
    > my webpage.
    >
    > It is a self-balancing robot that resembles in some sort the
    working
    > principle of the Segway Human Transporter, it is an inverted
    > pendulum and it dynamically balances with the use of two motored
    > wheels.
    >
    > On the videos it is using a BS2p24, I have managed to make it work
    > with a BS2 but it wobbles a bit more (less stable since polling
    > fequency is lower).
    >
    > I hope you find it interesting, hope to hear from you...
    >
    > http://www.microbotica.org/biway.html
    >
    > I apologize since it isn't in english yet, hope the pictures and
    > videos are enough to understand the functioning.
  • ArchiverArchiver Posts: 46,084
    edited 2004-02-11 12:00
    Your robot seems to be similar to Steve Hassenplug's Legway that
    was featured on the TechTV show the Screensavers last year. Are you
    using the same EOPD sensors?

    Here's the link to the Legway
    http://www.techtv.com/screensavers/howto/story/0,24330,3414548,00.html
  • ArchiverArchiver Posts: 46,084
    edited 2004-02-11 13:00
    I'm trying to build one myself. I looked at several similar robots on the
    internet and Juan's is one of the best i've seen. From watching the videos I
    couldn't believe how smoothly it moved. Good Job Juan.

    fab4442003 <fab4442003@y...> wrote: Your robot seems to be similar to Steve
    Hassenplug's Legway that
    was featured on the TechTV show the Screensavers last year. Are you
    using the same EOPD sensors?

    Here's the link to the Legway
    http://www.techtv.com/screensavers/howto/story/0,24330,3414548,00.html



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  • ArchiverArchiver Posts: 46,084
    edited 2004-02-12 07:02
    Hello Gary, I had just moved out of my parents house and that jar of
    vegemite was the only thing they asked me to take with me hahaha, a
    friend of mine gave it to me when I left Australia (studied there
    for a year).

    Regarding the surface, it does matter a bit, by moving the sensors
    by hand it is posible to adjust it for darker surfaces, however if
    it is movin on a color changing surface it will fall down.

    I tryed it on clear wood, and it works fine, probably wood reflects
    infrarred more evenly than it does the rest of the colors, therefore
    we can see different hues and colors, yet the robot does not.

    Thanks for your compliments.
    saludos!
    Juan Pablo

    --- In basicstamps@yahoogroups.com, "Gary W. Sims" <simsgw@c...>
    wrote:
    > From: "Juan Pablo" <juanpablocanguro@y...>
    >
    > > I apologize since it isn't in english yet, hope the pictures and
    > > videos are enough to understand the functioning.
    > >
    > Es muy facil comprender, Pablo. El robot no se gusta Vegemite! Muy
    > intelligente<g>.
    >
    > And that robot is impressive besides having good taste<g>.
    Congratulations.
    > I am surprised that infrared sensors would let you maintain
    stability. Very
    > well done. Does it matter greatly what surface it is on?
    >
    > Gary
  • ArchiverArchiver Posts: 46,084
    edited 2004-02-12 07:08
    hi, I was able to see Steves Legway in action at the SRS Robothon on
    october 2003, I also saw nBot by David Anderson, and some other
    balancing robots, really amazing projectos but none of them were
    Basic Stamp based, thats why I think this one is the first of its
    kind. I don't use EOPD sensors, I use a common IR Led and
    Phototransistor along with BS2 RCTIME command.

    Hope the info helps!
    Juan Pablo Angulo

    --- In basicstamps@yahoogroups.com, "fab4442003" <fab4442003@y...>
    wrote:
    > Your robot seems to be similar to Steve Hassenplug's Legway that
    > was featured on the TechTV show the Screensavers last year. Are you
    > using the same EOPD sensors?
    >
    > Here's the link to the Legway
    >
    http://www.techtv.com/screensavers/howto/story/0,24330,3414548,00.htm
    l
  • ArchiverArchiver Posts: 46,084
    edited 2004-02-12 07:10
    Thanks Kyle,
    It does move very smoothly, thanks to BS2p proccessing speed... I
    tryed it with a BS2 and it works well too, but it wobbles a bit more.

    good luck on your robot

    Juan Pablo Angulo


    --- In basicstamps@yahoogroups.com, Kyle Cooper <crazykurby@y...>
    wrote:
    > I'm trying to build one myself. I looked at several similar robots
    on the internet and Juan's is one of the best i've seen. From
    watching the videos I couldn't believe how smoothly it moved. Good
    Job Juan.
    >
    > fab4442003 <fab4442003@y...> wrote: Your robot seems to be similar
    to Steve Hassenplug's Legway that
    > was featured on the TechTV show the Screensavers last year. Are you
    > using the same EOPD sensors?
    >
    > Here's the link to the Legway
    >
    http://www.techtv.com/screensavers/howto/story/0,24330,3414548,00.htm
    l
    >
    >
    >
    > To UNSUBSCRIBE, just send mail to:
    > basicstamps-unsubscribe@yahoogroups.com
    > from the same email address that you subscribed. Text in the
    Subject and Body of the message will be ignored.
    >
    > Yahoo! Groups Links
    >
    >
    >
    >
    >
    >
    >
    >
    >
    > Do you Yahoo!?
    > Yahoo! Finance: Get your refund fast by filing online
    >
    > [noparse][[/noparse]Non-text portions of this message have been removed]
  • ArchiverArchiver Posts: 46,084
    edited 2004-02-12 10:34
    From: "Juan Pablo" <juanpablocanguro@y...>

    > Hello Gary, I had just moved out of my parents house and that jar
    > of vegemite was the only thing they asked me to take with me
    > hahaha, a friend of mine gave it to me when I left Australia (studied
    > there for a year).
    >
    Yes, I understand there is a move to get it all out of Australia<g>. We have
    a running joke about Vegemite between some Australia friends and me. I sent
    the link to your video to them and they are having a good time with it too.
    Great choice of stopper!

    Gary
  • ArchiverArchiver Posts: 46,084
    edited 2004-02-12 18:30
    --- Kyle Cooper <crazykurby@y...> wrote:
    > I'm trying to build one myself. I looked at several
    > similar robots on the internet and Juan's is one of
    > the best i've seen. From watching the videos I
    > couldn't believe how smoothly it moved. Good Job
    > Juan.

    So far, the best 'balancing' robot I have seen is this
    one:

    http://www.geology.smu.edu/~dpa-www/robo/nbot/

    I have seen video clips of it going through gravel and
    rock without too much trouble, as well as inclines.
    It uses a gyroscope and accelerometer with filters to
    provide an inertial reference sensor.



    =====
    Chris Savage
    Knight Designs
    324 West Main Street
    Montour Falls, NY 14865
    (607) 535-6777

    http://www.knightdesigns.com

    __________________________________
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  • ArchiverArchiver Posts: 46,084
    edited 2004-02-12 23:08
    Yes it is, but i meant using IR sensors, sorry

    Chris Savage <knight_designs@y...> wrote:--- Kyle Cooper wrote:
    > I'm trying to build one myself. I looked at several
    > similar robots on the internet and Juan's is one of
    > the best i've seen. From watching the videos I
    > couldn't believe how smoothly it moved. Good Job
    > Juan.

    So far, the best 'balancing' robot I have seen is this
    one:

    http://www.geology.smu.edu/~dpa-www/robo/nbot/

    I have seen video clips of it going through gravel and
    rock without too much trouble, as well as inclines.
    It uses a gyroscope and accelerometer with filters to
    provide an inertial reference sensor.



    =====
    Chris Savage
    Knight Designs
    324 West Main Street
    Montour Falls, NY 14865
    (607) 535-6777

    http://www.knightdesigns.com

    __________________________________
    Do you Yahoo!?
    Yahoo! Finance: Get your refund fast by filing online.
    http://taxes.yahoo.com/filing.html


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