by MAF, published

VertiBOT by MAF May 2, 2013

Featured Thing!

1 Share
Download All Files

Thing Apps Enabled

Order This Printed View All Apps



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

Liked By

View All

Give a Shout Out

If you print this Thing and display it in public proudly give attribution by printing and displaying this tag.

Print Thing Tag


Thing Statistics

63041Views 3976Downloads Found in Robotics


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


  • 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

More from Robotics

view more

All Apps

Auto-magically prepare your 3D models for 3D printing. A cloud based 3D models Preparing and Healing solution for 3D Printing, MakePrintable provides features for model repairing, wall thickness...

App Info Launch App

Kiri:Moto is an integrated cloud-based slicer and tool-path generator for 3D Printing, CAM / CNC and Laser cutting. *** 3D printing mode provides model slicing and GCode output using built-in...

App Info Launch App
KiriMoto Thing App

With 3D Slash, you can edit 3d models like a stonecutter. A unique interface: as fun as a building game! The perfect tool for non-designers and children to create in 3D.

App Info Launch App

Print through a distributed network of 3D printing enthusiasts from across the US, at a fraction of the cost of the competitors. We want to change the world for the better through technology, an...

App Info Launch App

Quickly Scale, Mirror or Cut your 3D Models

App Info Launch App

3D Print a wide range of designs with Treatstock. Easy to use tools to get the perfect result. The global 3D printing network that connects you with high-quality and fast working print services nea...

App Info Launch App

bravo, très bon boulot !

Hi! Where do you buy the rubber wheels?

Regards and good job!

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?

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

And the low cost version is in.....
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 :)

That is a very good board! Thanks for sharing Carlos

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

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

:( 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?

Yes...you can! ¬¬