Self-Balancing robot

Summary:

Developed a self-balancing robot integrating sensor data from Lidar and IMU for real-time stabilization

Role and Responsibilities:

• Led the design and programming efforts
• Integrated sensors and developed control algorithms

Skills and Tools Used:

• Programming: C++, Arduino IDE (ESP32 microcontroller )
• Sensors: Lidar, IMU
• Tools: Onshape

Problem Statement:

The challenge was to create a robot that could maintain balance on two wheels

Solution Approach:

• Design: Modeled the robot in Onshape, enabling all team members to model different parts together in a shared file and ensuring proper weight distribution
• Control Algorithms: Developed PD control algorithms to process sensor data and adjust motor speeds accordingly. Applied sensor fusion by combining lidar with IMU
• Integration: Programmed the microcontroller to handle real-time data from Lidar and IMU

Results and Impact:

• Achieved stable balance with minimal oscillation
• Enhanced my understanding of control systems and sensor integration

Reflection:

This project significantly improved my practical skills in robotics and control systems, preparing me for complex engineering challenges