Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasic robtic exeperts. Built on Terasic's DE10-Nano, a light-weighted SoC platform ideal for embedded solution, and equipped with the state-of-the-art control algorithm, the Robot offers developers a perfect starting point to create your own robotic innovations.

This Robot can perform posture recognition in real time through the acceleration sensor and the gyroscope, and achieve the balance by controlling the motors to adjust the posture. The Robot can implement attitude algorithm, perform motion control, and execute movements autonomously, such as moving forward, turning right & left, object following and obstacle avoidance.

Self-Balancing Robot equips Bluetooth/Wi-Fi module and IR Receiver, users can remote control robot by smartphone APP and IR remote controller.

There are many peripheral interface (Ethernet port, Uart port, HDMI-TX port, GPIO connector, USB Blaster II port) on DE10-Nano board for customers development. Besides the hardware, the robot also includes open source examples. Based on the example codes, developers can quickly implement their application designs.

The robot is powered by three lithium batteries. If lithium battery starts charging when it is completely unable to supply the robot, it is expected to take up to 2 hours for fully charging.

▶ Specifications

The Self-Balancing Robot is composed of two boards:

• DE10-Nano SoC FPGA board: with ARM processor, can run Linux system; 110K LEs integrated, can implement logic control. The board supports Uart, Ethernet, GPIO and many other peripheral interfaces.

• Motor Driver Board: It receives the motor control signal from DE10-Nano board and drive the motor through motor driver chip on Motor Driver Board. It can also receive control signals from Wi-Fi/Bluetooth and IR Receiver, and feed back the signals to DE10-Nano for further processing. In addition, the board also provides many system data to DE10-Nano, such as motion track, battery power voltage value, and distance information from ultrasonic module.

The robot Specifications details:

DE10-Nano Board：

• FPGA Device
  • Intel Cyclone® V SE 5CSEBA6U23I7 device (110K LEs)
  • Serial configuration device  – EPCS64 (revision B2 or later)
  • USB-Blaster II onboard for programming; JTAG Mode
  • HDMI TX, compatible with DVI 1.0 and HDCP v1.4
  • 2 push-buttons
  • 4 slide switches
  • 8 green user LEDs
  • Three 50MHz clock sources from the clock generator
  • Two 40-pin expansion headers
  • One Arduino expansion header (Uno R3 compatibility), can be connected with Arduino shields
  • One 10-pin Analog input expansion header (shared with Arduino Analog input)
  • A/D converter, 4-pin SPI interface with FPGA
• HPS (Hard Processor System)
  • 800MHz Dual-core ARM Cortex-A9 processor
  • 1GB DDR3 SDRAM (32-bit data bus)
  • 1 Gigabit Ethernet PHY with RJ45 connector
  • USB OTG Port, USB Micro-AB connector
  • Micro SD card socket
  • Accelerometer (I2C interface + interrupt)
  • UART to USB, USB Mini-B connector
  • Warm reset button and cold reset button
  • One user button and one user LED
  • LTC 2x7 expansion header

Motor Driver Board：

• DC Motor Driver and Connectors
• Wi-Fi/Bluetooth module
• 2X20 GPIO Connector to the DE10-Nano Board
• IR Receiver
• ADC Power Monitor
• Ultrasonic Connector
• 12V Power Input
• 5V Power Output to FPGA Board
• Six-Axis (Gyro+Accelerometer) MEMS Motion Tracking

* Visit this link for more DE10-Nano details 

▶ Layout

▶ Resources

Documents

Title	Version	Size(KB)	Date Added	Download
02.Getting Start Guide		2805	2018-05-08
01.Quick Start Guide		2286	2018-04-25
03.Hardware Manual		3563	2018-04-25
04.User Guide		2915	2018-04-25

CD-ROM

APP for Android

Title	Version	Size(KB)	Date Added	Download
Self-Balancing Robot APP	V3	1739	2018-04-02

APP for iOS

Title	Version	Size(KB)	Date Added	Download
Self-Balancing Robot APP	V3		2018-04-02

Linux BSP (Board Support Package): MicroSD Card Image

More resources about IP and Dev. Kit are available on Altera User Forums. 

▶ Kit Contents

Self-Balancing Robot kit package contents:

1. Self-Balancing Robot
2. Lithium Battery
3. DC Power Cable
4. IR Remote Control
5. Mini USB Cable
6. Micro USB Cable
7. Quick Start Guide