Wheelee

Let's Make Robots Robots
1

This robot is called Wheelee. It is simple inverted pendulum robot made on arduino.

Sensors: 

  • L3G gyro
  • LSM303 accelerometer

Motor driver: DualVNH5019MotorShield

Firmware, Matlab model, Android application and some articles are on Github repository

Balances on two wheels

This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/wheelee
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wheelee

Thanks for posting the video, code, and pdfs. I don’t read Russian but it looks like you put a lot of effort into understanding and documentating the mathmetics of inverted pendulums. Did the physical implementation closely follow the Matlab model?

 

3

Well, as I am interested in

Well, as I am interested in self balancing stuff I woulod like to see a bit more techniucal details like what sensors are you using and how you mastered the programming. The video shows an impressive reliability.

4

Yes, it was close, but I

Yes, it was close, but I have to modify some coefficients on my own.