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: 3430

Comment by Jack Crossfire on August 7, 2012 at 5:48pm

Make a skycrane quad copter that automatically lowers it on a mountain top.

Comment by Jason Short on August 7, 2012 at 5:52pm

yeah, I was thinking along the same lines. I even have the release mech planned out.


Comment by Maxime Carrier on August 7, 2012 at 6:26pm

Amazing, are you sure you are not cheating ? lol

Comment by Carl La France on August 7, 2012 at 6:35pm


Comment by Greg Fletcher on August 7, 2012 at 6:41pm

This thing's been driving me crazy all day. With a Segway you tilt it forward and it keeps the acceleration vector in line with the CG, i think? So does it have a movable mass with a servo? I didn't see one. So for it to accelerate forward it would first have to reverse the motors to angle forward the balance by accelerating forward. Like a motorcycle racer briefly kicks the steering the opposite way they are turning, to set the roll angle of the bike.

Am I close?

Comment by Alec - Sydney on August 7, 2012 at 11:05pm

That is really cool. great demo and looking forward to more.

Comment by Carl La France on August 7, 2012 at 11:42pm

Gyro ? Greg I haven't a clue how it works ? It is pretty neat  ! Jason gets a Thumbs up!

Comment by Marooned on August 8, 2012 at 3:57am
Comment by patrice.rance on August 8, 2012 at 6:50am

Weldone !!! Jason . here is one i did. i start with the instructable project base. balancing skate board than i've updated.

Comment by patrice.rance on August 8, 2012 at 7:07am

here is the Balancing Bot at the event Futur en Seine (France)


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