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The Best of Instructables Volume I by The editors at MAKE magazine and Instructables.com

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Balancing Robot

A simple robot that uses a switch as a sensor and stands on only two wheels By Mohammad Yousefi

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Figures A-C: Three views of our ingenious Balancing Robot. Note the use of a button cell battery and momentary switch as the balance sensor.

This is a simple robot that uses a basic switch as a sensor and stands on two wheels by means of an inverted pendulum mechanism. When the robot is going to fall, the motor turns on and moves the bot in the direction of the fall. The robot’s motor generates restoring torque, and when the restoring torque is equal to the falling torque, the robot becomes balanced.

1. You will need the following ...

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