Escape Velocity Labs
Published © CC BY-NC-ND

Falling-Up Robot with Stepper Motors

Balancing robot is 6 feet tall and wants to stand with you.

AdvancedWork in progressOver 8 days951
Falling-Up Robot with Stepper Motors

Things used in this project

Hardware components

Teensy 3.6
Teensy 3.6
×1
Teensy ILI9341 TFT Display
×1
NEMA23 Dual Shaft Stepper Motor
×2
CUI AMT10 Encoder
×2
ST-M5045 Microstep Driver
×2
LSM6DS3 6-dof IMU
×1

Software apps and online services

Arduino IDE
Arduino IDE
Teensyduino

Story

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Schematics

Main Board with Teensy 3.6

The SPI devices, the LSM6DS3 IMU and TFT display, are highly susceptible to EMI. It's best to use CAT6 (or higher) cables and make them as short as possible. All jumpers on the breadboard should also be as short and flat as possible. Also very important, decouple the ground planes between the main microcontroller board and stepper drivers and encoders with optoisolation.
Picture9 uzcp1sa1kf

Code

Source Code Not Available

C/C++
Eigen, an important library that performs matrix algebra like Matlab, can be found here:
http://eigen.tuxfamily.org/index.php?title=Main_Page
Eigen simplified implementing the Extended Kalman Filter (EKF).
No preview (download only).

Credits

Escape Velocity Labs

Escape Velocity Labs

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