The Balanbot is a Arduino Based Self-balancing Robot Kit. The Balanbot is Open Source and easy to assemble. It uses strong acrylic structures and keeps the robot balanced using its center of gravity. In order to achieve high-performance, we tests various torque-gear motors to ensure the robot will keep balance and move flexibly even if it gets pushed suddenly. Building the Balanbot will be so much fun for novice and experienced robotics fans! Hardware Design: The Balanbot includes everything you need to make your own self-balancing robot: two high torque and high speed gear motors, wheels, acrylic structures, 18650 battery holder (batteries are not included), Balance Shield, and Arduino UNO-compatible board. The Balanbot uses one 5mm and two 3mm thick acrylic boards and other accessories for its main structure. The 5mm board is used to fix the two motors. One of the 3mm boards is used to fix the battery and the other is for an Arduino-compatible board plus the Balance Shield. Software Design: The Balanbot software explores almost all the resources of an Arduino UNO. The Kalman filter is used to combine the data from the gyroscope and the accelerometer together in order to get stable angle information. With optimized PID parameters we obtained after several months of testing, the Balanbot now has strong stability! The controller accepting control messages comes from UART. It is easy to communicate with the Balanbot using adapters such as Bluetooth, serial Wi-Fi, etc. The coolest fact is that the controller accepts up to 4 channel ppm signal from an RC receiver. It means that you can control the Balanbot with a Remote Controller, if you have one at hand. We created an Android App and a PC software as well. You can control your Balanbot any way you want!
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