Project Overview

A self-balancing, two-wheeled robot built with off-the-shelf components and a custom 3D-printed chassis. It uses an MPU-6050 IMU and a PID control loop to maintain balance in real time.

Hardware

• Controller: Arduino Nano
• IMU: MPU-6050
• Motors: 2x yellow DC geared motors
• Driver: TB6612FNG
• Power: 3.7V or 7.4V LiPo
• Chassis: 3D printed black PLA+

Control System

The robot fuses gyroscope and accelerometer data using a complementary filter to estimate tilt. A PID controller then adjusts motor speeds to stay balanced.

• P: Immediate error correction
• I: Drift compensation
• D: Stability and damping

Key Challenges

• Sensor noise required careful filtering
• PID tuning without external tools
• Voltage dips caused resets
• Balance affected by smooth surfaces

CAD & Fabrication

Designed in SolidWorks and printed with black PLA+. The frame balances minimalism with function and uses bearings and mounting holes for easy assembly.

Source Code

All code and wiring diagrams are available on GitHub.

Video Demo

Future Improvements

• Switch to ESP32 (wireless + ROS 2)
• Add LiDAR or camera
• Replace PID with LQR/Kalman
• Custom PCB for clean wiring

Return

Want to see more projects?