by MAF, published

VertiBOT by MAF May 2, 2013

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VertiBOT is an educational project to investigate and understand sensor fusion using kalman and complementary filter algorithm and PID control in an unstable system.

VertiBOT is an inverted pendulum platform that remains balanced by means of two tiny motors, located in the bottom of the structure. The battery is attached in the top of the main body, while the electronics board is located near the rotation axis.
The feedback signal is provided by an IMU 6Dof composed by an accelerometer and a gyro. One ATmega 328 microcontroller execute the main loop every 10 milliseconds. A wireless communication over bluetooth is used to tune and check the signal response in a Graphical User Interface software.

Video: http://youtu.be/A5KtT4GVpx8
Useful info, schematic and code available: http://wp.me/p22sj0-fT

Recent Comments

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What happens if you place it on a slanted surface? Also, what happens as you change increase or decrease the angle of the slant?

Yes, of course. You can use any IMU.

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VertiBOT by MAF is licensed under the Creative Commons - Attribution license.

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  • Microcontroller ATmega 328 16MHz (Arduino nano).
  • IMU 6Dof: accelerometer y gyroscope.ADXL345/ ITG3200
  • Motor Driver Pololu Qik2sv1.
  • Bluetooth modem for wireless communication.
  • Potentiometer for PID tuning parameters
  • Buttons for different tasks: algorithm change, calibration offsets ..
  • Voltage regulator (MCP1700) and logic converter .
  • Pololu MicroMetal Motors (50:1)
  • Pololu Wheels 90x10mm

What happens if you place it on a slanted surface? Also, what happens as you change increase or decrease the angle of the slant?

Well, there goes the Segway market haha! Andrew (http://3dhacker.com3dhacker.com)

What is the model of accelerometer and gyroscope?

MAF - in reply to darkomen

IMU Digital Combo Board - 6 Degrees of Freedom ITG3200/ADXL345 by Sparkfun

darkomen - in reply to MAF

And the low cost version is in..... O_O I can't talk whit you!!! arrrggghhhh!!!

I have recently tested this low cost board (http://www.youtube.com/watch?v=jmhSHfY7mzs)http://www.youtube.com/watch?v.... You may want to check it out :)

MAF - in reply to carlosgs

That is a very good board! Thanks for sharing Carlos

carlosgs - in reply to MAF

Thank Víctor Uceda, he sent me that video! :P

I just bought one in DX i Hope will works fine! :)

MAF - in reply to darkomen

:( But if you look carefully, VertiBOT is an evolution from BoboBOT. I've reused all the expensive parts and added the IMU board. A good accel+gyro is needed to have a good estimation of your angular position.

But, can I program it to follow and chase my puppy?

MAF - in reply to Brytard

Yes...you can! ¬¬