I've been wanting to build a balance bot for ages and I finally have to time to make one. ArduBalance leverages the existing code base of ArduCopter to produce a simple autonomous balancing robot. Features include:

• GPS, opt_flow, and dead-reckoning

• Ardupilot mission scripting

• Full RC control

• Heading hold

• Position hold

• Stabilization, RTL, AUTO, GUIDED, FBW modes

• Mavlink 1.0 support

• APM1 and APM2 support


I'm still in the very early stages of development (this video is literally the first RC controlled run), but most of the feature have been ported from ArduCopter already. This project is closed source for now until development settles down.

The current version is an inverted foam core T, but this will evolve to something much more interesting.


Views: 3454

Comment by Dany Thivierge on August 7, 2012 at 9:47am

Wow I want one! this is a great project to reuse the old APM1 1280 that I have around. 

Will it fit in it? 

Looking good Jason! and this one when it crash will not break in pieces like a copter! 

this is more fun to me than the rover as this is perfect for around the house to have some fun. 

Let's create a mode for "cat chasing" hehe

Post some close up pictures! 


Comment by Wouter van Verre on August 7, 2012 at 9:52am

That's awesome! Love how you describe it as 'simple' and then give an awesome feature list. 

I'd love to see the source for this one day. Can it go up and down slopes as well?

Good luck with the rest of the development!

Comment by Rob_Lefebvre on August 7, 2012 at 10:10am

Jason, that's amazing!  What are you using for the motors?

I'm simply stunned at how robust the balancing is.  Crashing into things, no problem.  Fast starts and stops...

Maybe one day my dream of a life-size ArduR2D2 will be possible!  Now just to find the body to put it in...

Comment by Jason Short on August 7, 2012 at 10:16am

It can go over 1 inch bumps, but isn't so robust that it won't tip over if it hits at the wrong angle. I've been hitting bumps fast but leaning back as I hit them and it pops right over. I'm sure it could survive ramps, but it can't balance in the air, ironically.


Comment by Rob_Lefebvre on August 7, 2012 at 10:18am

Are you just using servos with the pots removed for the motors?

Comment by Jason Short on August 7, 2012 at 10:50am

They are brushed DC motors I found online. 


Comment by Brandon Jones on August 7, 2012 at 10:57am

Wow! Are you sure there isn't an invisible training wheel on there? It looks so stable!
Comment by R. D. Starwalt on August 7, 2012 at 11:50am

You scratch up her cabinets or range and she is going to drop kick that bot... :)

Neat demo, thanks for sharing!

Comment by Delfin Magote III on August 7, 2012 at 12:35pm


Comment by Roberto Navoni on August 7, 2012 at 2:02pm

I'm ready to help with AP32 .. we're ready to work on prototype :)


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