iB1 - iBalance One - Balancing Bot

thingiverse

Very much a work in progress, will be updating with a new revision in a couple of weeks, but thought I would upload to see if there was any feedback. Takes around 70-80 hours to print at 140 micron. Parts list, build details and maybe code available in the future. I have built the first prototype with a camera for visual tracking, sonar for near collision detection and a lidar sensor in the head (for fun because I had one from another project). There is an OLED screen in the chest, a speaker in the head and it all runs off a 3800mah lipo for up to 1 hour. Balance control is run on an Arduino Leonardo with a custom shield interfacing with a BNO055 fusion IMU. A Raspberry Pi 3 provides OpenCV image processing, drives the audio and display, processes sensor data and provides networking and control interface. For the moment print at your own risk, it will all fit together without issue but I will be releasing new revisions in the near future. https://youtu.be/Eqjbp00zH0c