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

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:

Step 1:

Picture of
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)
Ploopy1 year ago


jeez! thats awesome! and cute.
Mic1001 year ago
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


Tanks :-)

lumi30051 year ago
That's insane awesome :-) I really like those tiny robots but yours beat them all, well done!!!
khazravi1 year ago
Damet garm dadash
nwlaurie1 year ago
That is ACE!!! Very, very clever!
snoop9111 year ago
Do you have a video of it in action?
lavasoon (author)  snoop9111 year ago
Dear. Please attention carefully!!!
More video @: www.roborizeh.ir
farazjz1 year ago
aga shoma baes shodi parsal ma tiu iranopen magma nayarim vali eyval tarhet alie
Great job , movafagh bashi !
arshiaIQ1 year ago
dame irani garm :D
Kiteman1 year ago
Oh, my stars, that is both awesome and very cute.

I particularly like the way you use vibrating motors instead of wheels.
Eternal661 year ago
that is cool, well done.