Advanced Robotics & Kinematics · Advanced

Self-balancing Rover

Two-wheel inverted-pendulum rover using an IMU and closed-loop motor control. Two-wheel inverted-pendulum rover using an IMU and closed-loop motor control.

Components

• ESP32/Arduino
• IMU
• motor driver
• encoders

Build steps

1. Inventory the board, actuators, sensors, and power rails listed for R02.
2. Build and inspect the low-voltage wiring against the supplied connection diagram before connecting actuators.
3. Flash the firmware, run the startup self-check, and record the printed board and firmware version.
4. Calibrate the sensors and limits, then run the acceptance tests at the lowest safe energy level.

Test and expected result

Tune from low motor power; measure recovery time and steady-state tilt after a gentle push.

Safety and limits

Begin with wheels raised and use a physical kill switch.

Download Arduino source code

Download connection diagram SVG