Overview

Purpose: 24-676 Class Project

Team: Attention to DeTAIL

My Role: Systems engineer, controls lead

Form

Actuator:

• NEMA 23 Stepper motor (0.88 Nm, 1.8°)
• Timing belt drive

Controls: Arduino Uno R3

Sensors:

• Solid-state IMU with onboard processing
• Quadrature encoder

Frame: Laser-cut acrylic

Function

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.