Self-Balancing Robot
A two-wheeled robot that stays upright in real time using an IMU and a PID balance controller.
Two-wheeled PID inverted pendulum balancing
Overview
An inverted-pendulum challenge, this two-wheeled robot reads tilt from an IMU and drives its motors to constantly correct its balance.
Highlights
- MPU6050 IMU with complementary filter
- Real-time PID balance loop
- Recovers from small pushes
- Tunable gains for experimentation
The Challenge
Fusing accelerometer and gyro data into a stable tilt estimate, then tuning the PID for fast recovery.
The Outcome
The robot balances and self-corrects; work continues on smoother motion.
Project Media & Build Gallery
[4 PHOTOS]Two-wheeled PID inverted pendulum balancing
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