iB1 - iBalance One - Balancing Bot

thingiverse

I'm working on a project that's very much still evolving. A new version is coming soon, probably within two weeks, and I wanted to share it here to see if you have any feedback. Currently, it takes about 70-80 hours to print at 140 microns. In the future, I plan to make available the parts list, build details, and maybe even the code. I've already built a prototype with some advanced features like visual tracking using a camera, near collision detection via sonar, and lidar sensor in the head (just for fun - I had one leftover from another project). It also has an OLED screen on the chest, a speaker in the head, and runs on a 3800mah lipo battery that lasts up to one hour. The balance control is handled by an Arduino Leonardo with a custom shield that interfaces with a BNO055 fusion IMU. Meanwhile, the Raspberry Pi 3 takes care of OpenCV image processing, drives audio and display, processes sensor data, and provides networking and control interface. For now, I advise you to print at your own risk - everything should fit together just fine, but new revisions are coming soon. Check out this video for a better look: https://youtu.be/Eqjbp00zH0c