How to build a DIY Robot Segway for yourself

The project

We are all a tad bit amused and agreeable by the sight of a frolicking segway spurting through the tight city corners. Since their commercial debut in 2001, these personal transportation devices have gone on to epitomize the act of 'self balancing'. And as with its exalted state, there have been some conceptions that remarkably dealt with the DIY visualization of this convenient vehicle in its jaunty robotic avatar. So without further ado, let us take one such example and check out the very basic steps of building a self balancing segway robot.

DIY Segway

Difficulty level

Moderate

Time required

Depends upon the electronic aptitude and skill level of the user.

Estimated cost

Again depends upon the availability of resources. But it should be around $350, with all the components.

Resources required

1. A main board - We can use an Arduino Diecimila.

2. IMU sensors - We can use a Sparkfun IMU combo board.

3. For the engine component, we can use two EMG30 12v 170rpm motors with encoders and MD23 motor controller.

4. Batteries

Instructions

Before we delve into the instructions, it should be made clear that the building procedure consists of two elements - the physical (hardware) part and the Arduino based software part. The physical part is quite easy to assemble with a PVC sheet or wooden stick acting as the support component. The motors with its associated paraphernalia can be attached to the support, as per user's preference in weight and height.

1. Now, coming to the part of the software mechanism, the whole physical set up may not be optimized (with the sensors), especially in its relation to making vibratory noises and shaking (along the axes). In this regard, we can use the application of Kalman filter. It is a mathematical procedure that can predict the true values of measurements.

2. As per the resources required, the components that are to be attached includes - Arduino board, the two GM9 motors, a breadboard with the L293D IC, an IMU sensor and all the circuitry of Sparkfun premium wires.

3. The third and the final step deals with the controlling of the MD23 board with the arduino system. After this, a slew of optimizations (according to preference) can make the conception work.

Quick tips

1. The very first step would be to get the software alignment right with specific inputs. Starting with the rate gyro, we have to check if it is valued at 0. This means either the robot is stationary or going in a singular direction with some fixed speed.

2. The X axis accelerometer is used to judge the linear motion of the robot, wither forward or backward. So, this can be utilized to measure the directional attributes of the conception.

3. The Y axis accelerometer can be used the designate the up and down part of the robot, which in turn is determined by the gravity.

4. Finally, the wheel encoders can be used to determine the speed of the spinning wheels and thus, the overall speed of the robot.

Things to watch out for

The codes (for Arduino) used for different conceptions can vary according to different sensors. So to make it right, one should have a basic understanding of Kalman filter in relation to the overall sensitivity and ranges.