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How to make world's smallest line follower robot (robo Rizeh)

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Picture of How to make world's smallest line follower robot (robo Rizeh)
How to make world's smallest line follower robot (vibrobot)
"roboRizeh"
weight: 5gr     size: 19x16x10 mm
by: Naghi Sotoudeh
www.roborizeh.ir


The word "Rizeh" is a Persian word that means "tiny". Rizeh is a vibration based very small robot. It is driven by two vibrators of cell phones. This makes the robot very low cost to build and implement. The robot is able to perform linear and circular motions as two basic motions in mobile robots. Control mechanism of the robot employs internal PWM of micro-controller to control vibrators. Some techniques are applied to minimize electronic control board of the robot which is a very crucial in building up a small robot. As a standard task in mobile robots, line following task is selected to test Rizeh.

Video file:
 
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Step 1:

Picture of
Steps:
1.    Preparation components
2.    PCB
3.    Programming the microcontroller
4.    Soldering the components
5.    Mount vibrators and stands
6.    Draw a course
7.    How to run and test

HEX and PCB and Source CODE files attached.

+ List of components:
-1 x  MCU: ATtiny45 microcontroller
-2 x  IR sensor pack GP2S04
-1 x  SMD LED (size=805)
-1 x  R=100 ohm (size=805)
-2 x  3_Volt cell phone coin-vibrator D10mm W2mm
-1 x  3.6 volt Lit-Pol battery(Bluetooth hands free battery)
-2 x  Small size pin-header(male and female)

Step 2: Soldering all components

Picture of Soldering all components
Soldering all components (attention to wire colors and polarity and jump wire):

Step 3: Mount the vibrators and stands and battery:

Picture of Mount the vibrators and stands and battery:
Mount the vibrators and stands and battery:

Step 4: Cut 3 needle for robot stands (left & right= 12mm front=13mm)

Picture of Cut 3 needle for robot stands (left & right= 12mm   front=13mm)
Cut 3 needle for robot stands (left & right= 12mm   front=13mm)

Step 5: At over of a soft surface draw a course with 6mm width:

Picture of At over of  a soft surface draw a course with 6mm width:
At over of  a soft surface draw a course with 6mm width:

Step 6: How to run and test:

Picture of How to run and test:
After place power connector please wait 5 second (for sensors calibration).  Then place robot on course.

Step 7: NOTE:

Picture of NOTE:
1.The Robo_ RIZEH full paper article published in ADVANCED ROBOTICS journal:
“Design and motion analysis of vibration-driven small robot Rizeh”
2.Robo_RIZEH get first place at RoboCup IRANOPEN2013 in Demo league (free style league)
3.For more information and video please visit the robot website : www.roborizeh.ir
4.Special thanks to Prof. Adel Akbarimajd my partner in this project.
Hardwired225 months ago
jeez! thats awesome! and cute.
Mic1007 months ago
Hi
Nice Job !

I built myself a little robot with 2 wheels and 2 micromotors
1 IR sensor IS471F
the whole is controlled by a release ATtiny13 SOIC
and is programmed in BASCOM April
Build micro robots is very interresting

http://www.instructables.com/id/Mini-2-wheel-robot-with-IR-sensor-weight-14gr-and-/

Tanks :-)

lumi30057 months ago
That's insane awesome :-) I really like those tiny robots but yours beat them all, well done!!!
khazravi7 months ago
Damet garm dadash
nwlaurie7 months ago
That is ACE!!! Very, very clever!
snoop9117 months ago
Do you have a video of it in action?
lavasoon (author)  snoop9117 months ago
Dear. Please attention carefully!!!
http://www.instructables.com/file/F73KG7DHP6CRJIS/
More video @: www.roborizeh.ir
farazjz7 months ago
aga shoma baes shodi parsal ma tiu iranopen magma nayarim vali eyval tarhet alie
dragonwrath7 months ago
Great job , movafagh bashi !
arshiaIQ7 months ago
dame irani garm :D
Kiteman7 months ago
Oh, my stars, that is both awesome and very cute.

I particularly like the way you use vibrating motors instead of wheels.
Eternal667 months ago
that is cool, well done.
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