Ivan Cisneros
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Personal project

Self-Balancing Bot

A two-wheeled robot built to explore real-time balance control and wireless driving.

  • Robotics
  • embedded systems
  • control systems
  • Arduino
  • MPU-6050
  • PID control
  • motor encoders
  • Bluetooth
  • 3D printing
Date
2017–2018
Organization
-
Role
Designer and builder
Links
Code (opens in a new tab)
Two-wheeled self-balancing robot with a gray 3D-printed enclosure.
The completed robot in its 3D-printed chassis.

Overview

I built a two-wheeled self-balancing robot to explore proportional-integral-derivative (PID) control on a low-cost physical platform. Balancing an inverted pendulum requires the controller to estimate the robot’s tilt and continually adjust motor output.

Approach

An Arduino-based controller reads an MPU-6050 gyroscope and accelerometer for orientation feedback and drives two geared brushed DC motors. The custom 3D-printed PLA chassis encloses the electronics, motors, and battery. Motor encoders were included as an optional additional feedback source.

I also modified a Wii Nunchuck with an Arduino Micro and Bluetooth module to make a self-contained wireless controller for steering the robot while it balances. The design target was a parts cost below $150.

Results

The completed build brought balance control and wireless driving together in one compact test platform.