Purpose: 24-676 Class Project
Team: Attention to DeTAIL
My Role: Systems engineer, controls lead
- NEMA 23 Stepper motor (0.88 Nm, 1.8°)
- Timing belt drive
Controls: Arduino Uno R3
- Solid-state IMU with onboard processing
- Quadrature encoder
Frame: Laser-cut acrylic
Detect orientation: The IMU's digital motion processor (DMP) combines data from the solid-state accelerometer and gyroscope to provide calibrated orientation data directly to the Arduino via I²C.
Balance using tail: The weighted tail allows the unstable robot to balance.