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Self-Balancing Robot

What is it?

An autonomous self-balancing robot that maintains its upright position using an IMU sensor and PID control, built with custom PCBs and 3D-printed components.

Objectives

  • Design a stable and responsive self-balancing mechanism
  • Create custom PCBs for reliable motor control and sensor integration
  • Implement a robust PID control algorithm
  • Design an ergonomic and functional 3D-printed chassis

Outcomes & Contributions

  • Designed schematics and PCB layouts following JLCPCB assembly guidelines
  • Created 3D models for the robot's structure and enclosure
  • Developed a custom PCB integrating motor drivers and sensor interfaces
  • Implemented I²C sensor interfaces for IMU data acquisition
  • Programmed a PID controller on ESP32 for stable balancing

Technical Details & Skills

Hardware

ESP32, IMU Sensors, DC Motors, Custom PCBs

Software

C++, PID Control, I²C Communication, Real-time Systems

Tools

Altium Designer, Fusion 360, PlatformIO

Self-Balancing Robot
Robot Assembly
Circuit Schematic
Schematic
PCB Layout
PCB Design