PisaBot

This is (probably a world-first) one-stepper motor self-balancing robot. I named it 'PisaBot' based on the popular Leaning Tower of Pisa in Italy since the robot has to constantly lean forward and backward to keep its balance.

I designed the chassis in Autodesk Inventor (except for the Pisa Tower cover which i edited in Tinkercad from utechlab's design: https://www.thingiverse.com/thing:1129396) and 3D printed all the parts. This is the final version after more than a dozen prototypes in order to shrink the overall design and make it as compact as possible, to further reduce the robot’s height (minus the cover) to keep the centre of gravity as low as possible.

The code and smartphone app are from JJrobots’ B-ROBOT EVO 2 and unmodified: https://github.com/jjrobots/B-ROBOT_EVO2
But the PisaBot can currently only move forwards and backwards since there is no turning mechanism. In the app, the “PRO” mode also works to give more power when controlling the robot.

Here is a video of