Abstract
Robotics is a topic of curiosity among students and technology enthusiasts around the world. In recent times with the introduction of more complicated systems and designs, robotics has taken a great leap forward in various industries and among technology hobbyists. Self-balancing robot is one such application of robotics which enables the robot to have locomotion using the same balancing capabilities as humans. The following capability empowers the robots to perform a plethora of tasks in the same way as humans do. The project aims at designing an autonomous self-balancing robot and demonstrating various techniques involved in balancing a naturally unstable system on two wheels. A key element in the design is to maintain the robot in an upright position, by calculating the tilt angle based on the data received from the IMU sensor mounted on the robot. The robot is designed to oppose the applied force in the opposite direction and maintaining its balanced position. If a jerk is provided in a linear direction to tilt, it will oppose the force and retain it balanced position with the help of the controller system which acts swiftly on the calculated tilt angle. The system design comprises of a microcontroller, a pair of DC motors, a six-axis accelerometer- gyroscope for tilt angle determination and PID controller for motion control. In addition, the IMU implements an in-built DMP (Digital motion processing) to compensate gyroscope drifts. The applications of this robot design are endless considering the advancement in the modern era robotics.