Скачать или смотреть Two-Wheeled Self Balancing Robot | RoboFest 4.0 | By Rudra Baldania

Presenting our Two-Wheeled Self-Balancing Robot built for RoboFest 4.0 — an innovation that uses the inverted pendulum principle to maintain perfect balance on two wheels! ⚙️

This robot is powered by Arduino Mega, NEMA 17 stepper motors, and an MPU6050 gyroscope + accelerometer, with intelligent control handled through PID and Kalman Filter algorithms — all coded from scratch without using any motor libraries.

💡 Key Highlights:

Fully hand-built PVC frame — no 3D printing used

Real-time balance correction using MPU6050

Precision motion control via A4988 drivers

Custom PID tuning for stability

Kalman filtering for accurate sensor fusion

Second body design successfully achieved self-balance

🔧 Hardware Used:
Arduino Mega | MPU6050 | NEMA 17 Stepper Motors | A4988 Drivers | Lithium Battery

🧠 Software:

Arduino IDE

Custom motor control code (no libraries)

PID Controller

Kalman Filter

🎯 This project demonstrates the perfect combination of mechanics, electronics, and control systems engineering — balancing innovation and precision!

📍Built and Presented for RoboFest 4.0
👨‍🔧 Team: The Spark
📅 Year: 2024