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Documents Arduino Single-Wheel Balancing Robot -- Episode 491
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  • Author Author: tariq.ahmad
  • Date Created: 22 Mar 2021 10:31 PM Date Created
  • Last Updated Last Updated: 26 Mar 2021 8:24 AM
  • Views 6117 views
  • Likes 16 likes
  • Comments 14 comments

Arduino Single-Wheel Balancing Robot -- Episode 491

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As the brainy, hairless apes we are, we take it for granted that we can easily stand, walk, and run on two feet. For robots, staying upright is a real challenge (if it’s not already inherently stable). Keeping an unstable system that only has one or two wheels balanced is a common challenge in control theory and a great exercise in basic robotics, which is why today DJ will be diving in to get a better understanding. Follow along and see if he has what it takes to make his own robot capable of balancing on a single wheel.

Supplemental Content:

  • Episode 491: Bonus Content: Self Balancing Robot Demo

Bill of Material:

Product Name Manufacturer Quantity Buy Kit
Arduino Nano BLE 33 ARDUINO 1 Buy Now
Arduino MKR Zero ARDUINO 1 Buy Now
PLA Filament VERBATIM 1 Buy Now

 

Additional Parts:

 

Product Name
3 Cell LiOn Battery 2200 mAh
100:1 Metal Gearmotor 37Dx73L mm 12V
Pololu G2 High-Power Motor Driver 18v17
Bosch BNO055 IMU
XT60 Connector pair
Attachments:
BalancingRobot_Resources.zip
element14 presents
Arduino Single-Wheel Balancing Robot

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Top Comments

  • DAB
    DAB over 4 years ago +3
    Nice build. Think about the guys that made a self balancing robot with just a 555 chip. DAB
  • jomoenginer
    jomoenginer over 4 years ago +3
    Pretty cool. At first glance I thought it had two wheels, but I see it is a single drum that has two wheel like areas. Nice!
  • aspork42
    aspork42 over 4 years ago +3
    Nice work! I’ve always wanted to make one of these. Are you ’driving’ this remotely?
  • jomoenginer
    jomoenginer over 4 years ago

    This might make for an interesting Project14 design challenge: create a project designed around a Single-Wheel Balancing implementation. It doesn't have to be a robot and could be something like like the Onewheel thing that Adam Savage rides around on.

    https://onewheel.com/pages/adam-savage

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  • feiticeir0
    feiticeir0 over 4 years ago

    Thank you for the video.  Nice build .

     

    I would love to see the same thing, but using a Raspberry PI . image

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  • dubbie
    dubbie over 4 years ago

    DJ,

     

    A good prototype. Like others above I have wanted to create my own balancing robot but never quite managed to get around to it. I think I will have to have another good, sometime soon when time permits.

     

    Dubbie

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  • airbornesurfer
    airbornesurfer over 4 years ago

    Looks like the thing balances better than I do! Great build!

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  • beacon_dave
    beacon_dave over 4 years ago in reply to kmikemoo

    "...I'm really impressed that it was able to balance with the additional load..."

     

    There is an example of a Grimblebot balancing with off-set loads here which may be of interest:

    FischerTechnik Balancing Robot on Wheels - YouTube

     

    Although with the threaded rod DJ has - balancing extrusion bars may take a little extra work... image

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  • beacon_dave
    beacon_dave over 4 years ago in reply to mrvolt

    Using a 555 timer is a bit overkill don't you think ?

     

    Two transistors version (skip to 5:30 on the timeline):

         How to build simple analog balancing robots

         https://youtu.be/Y-afnY32RrY?t=330

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  • mrvolt
    mrvolt over 4 years ago in reply to kmikemoo

    Thanks Mike!

     

    I had a lot more fun (and stress) building this than I thought I would. I was also impressed by how much spare torque the motors had when moving around too. I never actually tested the limit since I didn't have anything dense and small enough...

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  • mrvolt
    mrvolt over 4 years ago in reply to aspork42

    Thanks James!

     

    It's running on its own. I should have implemented a remote thought so I could change directions (intentionally) though.

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  • mrvolt
    mrvolt over 4 years ago in reply to jomoenginer

    Thanks Jon,

     

    Yeah, it has two treads, but only one axle as I just wanted to focus on one degree of freedom.

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  • mrvolt
    mrvolt over 4 years ago in reply to DAB

    Thanks DAB!

     

    I'll be sure to use a 555 next time image

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