Self-Balancing Robot

Capstone project for designing, building, and validating a two-wheel self-balancing robot using an Arduino-based control system.

Project Summary

This project combines embedded control, mechanical design, and prototype testing:

• Sensor fusion and orientation estimation with the MPU6050 IMU.
• PID-based feedback control for dynamic balance.
• Custom chassis design and 3D-printed structural parts.
• Iterative test documentation using photos, videos, and reports.

Team

• Adoo Darko Jonathan
• Appiah Peter Kwame
• Adam Rahinatu

Supervisor

• Dr. Griffith Selorm Klogo

Quick Start

1. Clone the repository.
2. 3D print the parts in models/ and assemble the chassis.
3. Connect the MPU6050, motors, and motor driver according to schemes/diagrams/electrical_schematic.png.
4. Open the sketches in the src/ directory with the Arduino IDE.
5. Install the required libraries listed in src/README.md.
6. Upload src/calibrate/calibrate.ino and record sensor offsets.
7. Update offsets in src/main/main.ino.
8. Upload src/main/main.ino and begin controlled balance testing.
9. (Optional) Run the simulation visualizers documented in src/simulation/README.md.

Repository Guide

self_balancing_robot/
├── README.md                  # Project overview and getting started
├── docs/                      # Reports, synopsis, and formal documentation
├── models/                    # 3D printable CAD files (.stl)
├── photos/                    # Build and assembly images
├── schemes/                   # System/block diagrams and electrical sketches
├── src/                       # Arduino sketches (calibration + control)
│   └── simulation/            # Python simulation and visualization scripts
└── videos/                    # Test and demonstration recordings

Detailed documentation by folder:

• docs/README.md
• src/README.md
• schemes/README.md
• models/README.md
• photos/README.md
• videos/README.md
• src/simulation/README.md

Hardware Stack

• Arduino Uno (or compatible board)
• MPU6050 IMU (accelerometer + gyroscope)
• Motor driver module (for example, L298N)
• Two DC motors and wheels
• Power source (battery pack)
• Chassis and structural mounting parts

Block Diagram

Project Status

• Calibration sketch implemented and verified.
• Main balancing control sketch implemented.
• PID tuning for final platform stability.
• Final validation and performance reporting.

License

This project is distributed under the terms of the license in LICENSE.