Bill Of Materials

The first step we have to take to build our pendulum is to know what it is and how it's going to work, so take a walk through these projects and observe what they use: LITERATURE

Once we are done lets try to sum up the main things:

• Of course we need a microcontroler which is in charge of the control of everything, it's the brain of the robot, the one running the algorithms, receiving the data acquired and sending the instructions to other parts. We can use an Arduino Uno or others that can handle our code (enough memory to keep it or enough frequency to process it)

• Next we need our eyes, those in charge of acquiring the data in our environment, the sensors. In our case we are going to use an accelerometer and a gyroscope to detect the tilt of the pendulum, both integrated in a MEMS.

• Our limbs to help us move or answer to environment stimulations are the actuators. In the robot a couple of DC motors with them gear box will move the wheels to compensate the force of gravity and thus avoid the robot to fall. But! to control the motors we need a motor driver

• Also the robot will need to eat, and that it's why we need a battery. We will use a LiPo

• Finally our robot will need a body which we have designed and some M3 screws and nuts.

Adquisition links:

• Arduino Uno Rev3
• MPU-6050 (We've use the breakout GY-521)
• DC motors (Doesn't matter which you choose, just make sure it's enough) In this state of the project we've not used an encoder but if you are planing to use it make sure the motors have double shaft (front and back).
• A4990
• LiPo