Self-Balancing Robot
This project was to construct a robot that is self-balancing. The design was based off of a segway, which allows users to balance on two wheels while also rolling forwards or backwards.
This balancing robot was originally designed to have a movable "tail" that can adjust to help shift the center of gravity of the robot and correct its balance
The robot was designed to fit a tiger puppet so as to make it look cute and animated. The puppet moves using servo motors attached to a Raspberry Pi 4.
The segway wheels were 3D printed and the base is comprised of laser cut acrylic. The base houses the raspberry pi as well as the wiring for the servos and sensors. The robot uses a IMU to sense changes in tilt and the Raspberry Pi runs ROS to filter the data and adjust the servos accordingly to balance
This is the final product with the puppet cover
The robot can be seen moving and making corrections to its position to try and balance and stay upright