APPLIED SCIENCES // FIG.01 — INVERTED PENDULUM // ESC RETURNS HOME

BALANCE_BOT

two wheels, one impossible posture — control theory you can poke

SPEC: IMU + wheel encoders · complementary filter · PID torque control · C++
ROLEControl Designer
TECHPID, C++, CAD
TYPERobotics
CONTEXT

A two-wheel inverted pendulum built as a hands-on platform for control theory — the classic "unstable by design" problem, solved with sensor fusion and tight feedback loops.

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DETAILED CASE STUDY — RESTRICTED
Full UXR notes, process artifacts & design documentation are access-gated while being polished.

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Balance bot prototype Balance bot parts Balance robot Biped experiments
DESIGN
  • Chassis: CAD-modeled frame to control weight distribution around the axle.
  • Sensor integration: IMU + wheel encoders fused with complementary filtering.
  • Control: PID controller computing corrective motor torque each cycle.
IMPACT

Maintained upright posture and navigated obstacles — a tangible platform for experimenting with control theory, later feeding into biped locomotion experiments.