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 Sandro Benigno on August 8, 2012 at 8:32am

Awesome, Jason! It's so cool... 

Comment by John Hanson on August 8, 2012 at 9:16am

Wow! I have wanted to do this forever!  Let's enter one in Sparkfun!

Comment by Carl La France on August 8, 2012 at 7:50pm

Jason I have been thinking about it all day  you have come across a artificial form of balance or have modified an existing form  don't be to quick handing out your "Secret ?' the mini balancing bot is totally "Cool "and it is something every kid in the World would want for Christmas  in a miniature robot , car etc. and be as popular as Ninja Turtles, Cabbage patch dolls etc . check around there could be some  $ in it for you  There are people 

lurking in the  back ground waiting to steal your idea  like the video swapper Indego go. Good Luck and have a good day!.

Comment by Brian Boyle on August 8, 2012 at 8:01pm
That is so cool! Could we turn it into a low cost Segway? I always wanted to build one of them.
Comment by Maxime Carrier on August 8, 2012 at 8:03pm
Yes there are many homemade segway over the Internet so I remain expensive because you need big batteries.
Comment by Martin Szymanski on August 8, 2012 at 10:53pm

Make it bigger so it can hit better in competition. Force = Mass times Speed

Comment by David on September 26, 2012 at 1:40pm

I just now saw this...amazing, simply amazing. Good work sir!

Comment by Craig Evert on September 28, 2012 at 8:49pm
How uncanny. I have been searching for a way to use my apm1 in a balance bot. Please tel me the code will work on a 128.
Can't wait for you to share!!
Comment by Magnus on December 19, 2012 at 8:55am


will the ahrs code work indoors without GPS? I get a lot of drift when i run it without GPS. IS that a APM1 problem  or have you solved it someway?



Comment by Arthur Benemann on May 1, 2013 at 3:10pm

How far have you got Jason?


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