Overview
This project is a self-balancing robot based on the reverse pendulum model and a PID control system. A calibration button lets the robot automatically determine its balance point, which it then maintains by correcting for disturbances like friction, impacts, or uneven surfaces. Future development will add two-wheel XY movement and expand the robot’s ability to navigate challenging terrain such as rocks, stairs, and inclines.
Materials
- Microcontroller Arduino Nano
- IMU sensor MPU6050
- Bluetooth module HC-05
- Motor driver TMC209
- Two NEMA17 stepper motors
- Battery pack 3s 12.1V
- Chassis frame
- Push button
- Wiring and mounts
Electronics Module Images
