Overview

This is a personal project of building a self balancing robot like an inverted pendelum.

Hardware

- Microcontroller: Arudino UNO

- Motor Controller: L298N H-bridge module

- Motor: DC-motor with endcoder (Encoder not used for this project)

- Power: 3-cell LIPO

- Body: The body consists of 4 layers of 3D-printed platforms connected with stand-off screws. The 3D models are available as .STL files.

Software

Arduino code is used to program a proportional derivative (PD) controller such that the balancing robot stands upright. It uses an inertial measurement unit (IMU) to sense its orientation and feeds the error value to the PD-controller. The PD-controller corrects the error by sending signals to the DC-motors.