First version of the Wheeled-Balancing-roBot

Prototype main characteristics:

• Fixed legs (no knee and, hence, no leg actuation)

• Structure made of aluminum 20x20 V-slotted profiles

• Powered by ODrive field-oriented controller

• 2 BLDC (D5065) motors and (as of now) incremental encoders (CUI AMT102)

• 3D-printed motor housings, battery holder and cooling fan supports

• RPI 4B, 8GB RAM as the onboard computer (also provides wifi connectivity), with Ubuntu 20.04 OS and PREEMPT-RT kernel, CAN-SPI hat (from Seedstudio)

• Sensing unit:

  • Encoder feedback from the axes (thorugh ODrive CAN interface)

  • Orientation, gyro, acc information over CAN from the on board IMU stack (made of Arduino Nano IoT/BLE sense/RP2040, sensor fusion Adafruit BNO085 for accurate orientation data and the older BNO055 which is used to get calibrated gyro readings and keep a high sensor data rate, >=100Hz). The IMU stack interfaces with the RPI using the CAN SPI click 3.3V board

• 6s LiPo battery for powering the entire system

Repo structure

• Arduino holds all code and custom libraries associated with the onboard microcontroller

• RPI_Ubuntu_20.04_server holds some files associated to the particular configuration of the used Raspberry Pi (currently 4B, 8 GB RAM)

ToDo