Self-Balancing Robot

Balancing on Two Wheels

Built by a team of 3 for Mechatronics and Robotics I, the self-balancing robot can maintain an upright pose with the assistance of an IMU and a PID controller.

Initial Attempt

Raw accelerometer data was insufficient to act as feedback for the PID controller

Final Attempt

Filtering the accelerometer and gyroscope data with a complimentary filter allowed a smooth balance to be achieved.

GitHub - nicolasgarzione/self-balance-robot: An inverted-pendulum style robot utilizing a PID controllerAn inverted-pendulum style robot utilizing a PID controller - GitHub - nicolasgarzione/self-balance-robot: An inverted-pendulum style robot utilizing a PID controller

Report.pdf