H & M Robot
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Date
2020
Authors
Bawwab, Malak
Ihbaisheh, Hadeel
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Abstract
When thinking about how things are balanced like the balancing of a stick on the ground,motorcycles and scooters , etc..and with the rapid increase of robotic applications.With all that in our mind,we decided to work on a similar concept in this project, especially the world now is more interested in this type of robots, because it uses a control system to be able to stabilize an unstable system by using efficient microcontrollers and sensors.
This project simulates the human body in its nature, as we know that the human body is originally unbalanced, and the vestibular system, which is in the human ear, performs the balance process by generating signals to the brain to give orders to the feet and all parts of the body to move and implement the balance process.Similarly, the information from sensors will be received and interprets by arduino. Then, the arduino will send commands to the system for balance maintaining.
The system is based on the principle of PID control, which works by calculating both the speed and direction of the required motors depending on the signal issued by the sensors to maintain the balance of the robot, as this principle is one of the control principles that work to give the best possible result for controlling the robot in a stable and balanced manner.
In this project we built a two-wheeled self-balancing robot consisted of an Arduino Mega microcontroller, gyroscope, accelerometer, motors,ultrasonic,HBridge and two wheels.The primary goal is to get it balancing on the plane horizontally.The secondary goal is to move the robot with a Bluetooth device forward and backward and making the robot avoiding obstacles.Its role is to maintain balance using the movement of the wheels and body.