/ballbot_LMI

Esse repositório tem como objetivo compartilhar as informações para você construir um ballbot.

Primary LanguageC++

Design and Experimental Validation of a Ballbot: A Self-balancing Omnidirectional Robot

Author: Pedro Henrique de Jesus (pedro.jesus@sp.senai.br), ITA / SENAI

Advisors: Cairo L. Nascimento Jr. (cairo@ita.br), Douglas Soares dos Santos (dsoares@ita.br), ITA.

Abstract:

The files and codes presented in this repository refer to the construction of the ballbot robot. This robot rides on top of a basketball, and falls into a recent category of omnidirectional robots. In addition to the construction, files are available for the implementation of the camera location system, autonomous waypoint navigation and object tracking system.

ballbot 2

Prerequisites for running MATLAB files:

  • MATLAB R2015a

Prerequisites for recording the embedded system:

  • Arduino IDE equal to or greater than version 1.8.7
  • Arduino Mega board

Prerequisites for running the files in Python:

  • Python 3.5.2 or higher
  • numpy package installed with version 1.17.3 or higher
  • OpenCV package installed with version 4.1.1.26 or higher

Prerequisites for running the ballbot in the 3D simulator:

  • CoppeliaSim version greater than or equal to 4.1.1

File organization

  • Files for 3D printing
    • Folder: mechanical
  • Simulators
    • Folders: MATLAB Simulink and 3D simulator
  • Embedded system
    • Folder: Arduino program
  • Software for autonomous waypoint navigation
    • Folder: Control software
  • Videos of real experiments and simulation
    • Folder: Videos
  • My_Publications
    • Dissertação_Ballbot_Pedro_HJ.pdf: PDF of the master's dissertation
    • Folder: Presentation