Segbot - Open Source Two Wheel Segway Style Balancing Robot

University: University of Illinois Urbana-Champaign
Dan Block, Control Systems Lab Manager
College of Engineering
TI Parts Used:

Open Source

Used in the Control Systems Curriculum for
both Mechanical and Electrical Engineering

Project Description

The Segbot is part of ongoing inverted pendulum projects in the Control Systems Labs. It uses Microelectromechanical Systems (MEMS) Inertial Measurement Units (IMUs) consisting of accelerometers and rate gyroscopes to determine its angular orientation. Coupled with a TI C2000F28335 Delfino floating-point microcontroller and several other components, these sensors make it possible to stabilize the robot in the balancing position. This robot operates in much the same way as the Segway robots designed for personal transportation. The Segbot is capable of robust, high speed wall following, and can alternatively be controlled remotely using Texas Instruments' eZ430-Chronos Wireless Watch Development Tool.

Click on the More Info link to explore and display the capabilities of the Segbot. This page is also intended to exist as an open-source, open-hardware platform to assist in designing, building, and understanding your own Segbot. 

More info »

  • Teaches concepts of Control Systems, great starterware for any robotics project
  • Open source hardware, cad files, complete BOM, descriptions of how to assemble
  • Open source software, complete code files available
  • Uses accelerometers and rate gyroscopes, wireless communication with the watch using TI SimplciTI