Balancing Robot Using Ping

[Lorenzo M. Oliver]

http://forums.parallax.com/forums/default.aspx?f=21&m=162898

My goal is to build a balancing robot that can roam and avoid obstacles. As a first step I built a simpler robot that can balance in place or move slowly forward or backward over a level surface.

I posted a video at http://www.youtube.com/watch?v=L6SGsV9uHfs

I used mostly components from my last Boe-Bot project: Parallax continuous rotation servos, a BOE development board with a BS2sx chip and Ping to measure tilt angle. The balance point can be moved slightly fore or aft with on-board buttons to choose stationary or slowly moving behavior and to fine tune for different environments. The chassis is made from Radio Shack perf board. For power I’m using five Ni-CDs, whose low internal resistance provides quicker surges as the servos constantly start, stop, and change direction. The only non-Parallax working parts are 3” model airplane wheels.