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VertiBOT

by MAF, published

VertiBOT by MAF May 2, 2013

Featured Thing!

Description

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: youtu.be/A5KtT4GVpx8
Useful info, schematic and code available: 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.

is is possible to adapt your schematics and use this sensos instead?

http://www.aliexpress.com/item...

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License

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

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Instructions

- 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

Comments

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beeferer on Feb 23, 2014 said:

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

muringuets on May 9, 2013 said:

is is possible to adapt your schematics and use this sensos instead?

http://www.aliexpress.com/item...

MAF on May 9, 2013 said:

Yes, of course. You can use any IMU.

andrewupandabout on May 3, 2013 said:

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

kwalus on May 3, 2013 said:

very nice!

darkomen on May 3, 2013 said:

What is the model of accelerometer and gyroscope?

MAF on May 3, 2013 said:

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

Brytard on May 2, 2013 said:

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

MAF on May 2, 2013 said:

Yes...you can! ¬¬

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