[Figure + video] Ball balance robot with excellent mobile power

The robot has always been the watershed in our DIY project. When a robot work can perfectly complete the work we set, it is already a successful work. And this, what we have to solve is to let the robots get a "action". If "flying" and "more" can meet our "action", then we can choose a more smooth way - "Tour". Whether it is a simple robot, "action" is the most critical performance. Simple and effective way to make robots have more possible, complete more action. In multiple projects you have seen, flying robots and more robots are a very strong mobile product, but relatively stability is far away. Therefore, there is a new action mode being added to the ranks of the robot, that is, "ball line" robot. Robot Rezero, "Always Don't fall" Rezero comes from Switzerland, which is a work created by the Student of the Zurich Federal Institute of Technology. If you make a general description, we can evaluate the robot that "never fall" Rezero left another extreme: the entire structure is supported by a spherical base, and the entire machine has only a little contact with the ground, making it impossible to maintain absolute stability, but this robot will pass at the same time The spherical base is continuously "fine tune" to maintain movement and relative balance. Rezero can match a variety of sensors, including a level, infrared positioning, and thermal sensing. Because Rezero has only one support point contact with the ground, this robot itself has been in a unstable state, and must be moved through the constant movement. As a base of the base, the sphere is formed by three wheels to control the direction and speed of the rotation. With the sensors of the body and the motor performance of the base sphere, Rezero can complete a moving straight, rotate, revolve around a particular target. By strengthening the motor performance of Rezero, it can also serve as a carrier and provide a road function. In TED speeches, Peter Fan Kaka has demonstrated the actual performance and prospects of Rezero robots. DIY, balanced robot Gyroscope sensor, acceleration sensor, genernetic sensor, wireless module, WiFi module, camera, even Kinect, in order to make the spherical robot exert its own stable action, we can use different sensors and components to play this advantage. . At present, some people DIY have the design of this design by STM32 single-chip microcomputer, and the ATMEGA16 single-chip microcomputer, and the mechanical part can complete the power system through a DC motor (gear box), encoder, and DC motor driver. With the full-directional wheel, we can get a mobile system that can move control over the spherical base. Currently, this robot can be made through a general DIY mode, which can be active, direct, rotation, etc., and the action is very smooth and reliable. For some service robot design, this "spherical power" is also undoubtedly more feasible and efficient.