Self-Balancing Inverted Pendulum Robot (PID Controller)
Master real-time control theory by building a two-wheeled balancing robot with IMU sensor fusion and PID tuning.
Project Overview
Learn the foundations of dynamic balance control by building a two-wheeled inverted pendulum robot that remains upright when nudged.
Key Learning Outcomes
- MPU6050 Accelerometer + Gyroscope Complementary Filter
- High-frequency PID control loop at 200Hz
- NEMA 17 Stepper motor microstepping control
- Wireless parameter tuning over Bluetooth