Two-wheel balancing robot Video

Two-wheel balancing robot built with fischertechnik




balancebot




Remotely Operated Balancing Robot




nBot balancig robot




Self-balancing Robots

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Two-Wheeled Balancing Robot Project 3

nBot Balancing Robot
The basic idea for a two-wheeled dynamically balancing
robot is pretty simple: drive the wheels in the direction
that the upper part of the robot is falling. If the wheels can
be driven in such a way as to stay under the robot's
center of gravity, the robot remains balanced. In practice
this requires two feedback Sensors : a tilt or angle sensor
to measure the tilt of the robot with respect to gravity,
and wheel encoders to measure the position of the base
of the robot. Four terms are sufficient to define the motion
and position of this "inverted pendulum" and thereby
balance the robot. These are 1) the tilt angle and 2) its
first derivative, the angle velocity, and 3) the platform
position and 4) its first derivative, the platform velocity.
These four measurements are summed and fed back to
the platform as a motor voltage, which is proportional to
torque, to balance and drive the robot. Here is a diagram
of the algoithm with some code and implementation notes.

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Gyrobot - a balancing robotic platform

To balance a platform one needs to know the forces acting
upon it. The force is related to the angle of tilt. The base
counteracts that force by applying torque to the wheels.
Basically, one multiplies the angle of tilt by a factor and
uses that to drive the wheels. With appropriate factors the
base will balance, sort of.

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UBC Self Balancing Robot
The UBC Two-Wheeled Robot (TW Robot) is a device
capable of balancing itself on two wheels only. This Robot
is specifically designed for a controls course, enabling
students to implement custom controller algorithm in real
world applications. The TW Robot was designed and
constructed as a senior Mechatronics design project in
a team of four: Ramin Sahebjavaher, Daria Aminshahidi,
Mohammadreza Izadpanah and Sunil Kumar Gulabani.
The project was supervised by Dr. Xiaodong Lu.
The budget was set at 2500 CAN$.


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T.O.B.B.
T.O.B.B. has no wheel encoders yet. The controll loop is
a simple P-loop. The mechanical system shows a strong
lowpass behaviour (the batteries are on top yielding a high
rotational inertial moment). That's probably why it works.
The next thing is to improve the drive mechanism. There is
a lot of play in the gears (nBot style motor configuration).
The next version will have belts which should work better
(My mechanical skills are close to 0. Building something
with enough precision needed to match two gears is
probably beyond my capabilities

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Two-Wheeled Balancing Robot Project 2

Tip two wheeled balancing robot
The first step in building Tip was to create a simulation.
I used Delphi, a Visual Object Pascal tool, to write a
simulation program. The robot is modeled as a system
composed of two masses. A wheel and platform mass
and a body mass located at a specified distance above
the wheel center. The simulation assumes that the
robot wheels do not slip. The moment of inertia is
calculated for the body mass and the wheel mass is
considered to be a translating mass only with no
consideration for wheel/motor rotational inertia.

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Two Wheeled Balancing Transport Platform
A senior design team at Rensselaer Polytechnic Institute
(RPI) set out to develop an interdisciplinary mechatronic
system by designing and prototyping a two-wheeled robotic
locomotion platform inspired by (and with the permission of)
the Segway Corporation, maker of the Segway Human
Transporter. The Two-Wheeled Balancing Transport
Platform utilizes parallel-wheel locomotion to provide precise
maneuverability while maintaining system stability. The team
tackled both the complexity involved in modeling, analyzing,
and controlling the platform, as well as the implementation
of two fully-operational prototypes in a four-month time period.

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Building Bender, the Balancing Bot
Editor's note: Ted Larson and Bob Allen are members of
the HomeBrew Robotics Club. They're also the brains
behind Bender, a self-balancing robot that won the Open
class gold medal at this year's ROBOlympics. On tonight's
episode of "The Screen Savers," Larson and Allen will
show off Bender and tell you how they built the
gyro-balanced robot. Below, Allen gives a preview.

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Low Cost Gyro-Accelerometer Combo Sensor
Project Summary
In building a balancing robot you need a gyroscope unit and
an accelerometer unit in order to get it to balance. But I also
wanted it to be reasonably low in cost with high performance
and easily interfaced to a MCU. Some of the other solutions
are prohibitively expensive, even if they may work well. Also
the solution I had in mind had to be fairly small and use up
little space and use up little power too. So when Analog
Devices recently came out with their ADXRS150 and
ADXRS300 piezo-gyroscope integrated circuit, I now had a
solution that had low cost and low power with high
performance too. The gyro is very small at about 5mm
square (about 0.3 inches square). You can see the small
combo gyro PCB mounted vertically in the center section
on the balancing robot photo below.


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Two-Wheeled Balancing Robot Project 1

Balancing a Two-Wheeled Autonomous Robot
This thesis discusses the processes developed and
considerations involved in balancing a two-wheeled
autonomous robot based on the inverted pendulum
model. The work was conducted in collaboration with
the Centre for Intelligent Information Processing
Systems (CIIPS) and the School of Mechanical
Engineering.

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Building a Balancing Robot with the IntelliBrain™

Robotics Controller and Lego® Bricks
The balancing robot shown above is a highly unstable two
wheeled robot. The largest mass, the battery pack, is
positioned above the axle, making the robot an
inverted pendulum. The robot will naturally tend to tip over,
and, the further it tips, the stronger the force causing it to tip

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Self-Balancing Robot
Abstract
This project will undertake the construction and implementation
of a two-wheeled robot that is capable of balancing itself. The
structural, mechanical, and electronic components of the bot
will be assembled in a manner that produces an inherently
unstable platform that is highly susceptible to tipping in one axis.
The wheels of the robot are capable of independent rotation in
two directions, each driven by a servo motor. Information about
the angle of the device relative to the ground (i.e. tilt) will be
obtained from Sensors on the device. The precise type of sensor
that will be used is yet to be specified. The tilt sensor may be

an accelerometer, gyroscopic sensor, or IR sensor (to measure
distance to the ground). Information from the Sensors will be fed
back to the Z8, which will process the feedback using a crude
proportional, integral, derivative (PID) algorithm to generate
compensating position control signals to the servo motors in
order to balance the device.

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The Embodiment Design of a Two-Wheeled
Self-Balancing Robot
Abstract.
The embodiment design of a two-wheeled selfbalancing
human augmentation robot for the mobility-challenged
is reported. The prototype relies on a dead-reckoning multisensor
system consisting of i) two optical incremental encoders
and ii) a solid-state tilt sensor. The command inputs are provided
to the robot controller, which is based on PC/104 technology, by
means of a RF control unit. After describing the research motivation
and application of the system, a set of robot design solutions
is outlined along with technical discussions on component layout,
payload holder and chassis design issues. A few simulation results
on the motion control performance are included as well

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