TEAM NAME: ARYABHATTA

TITLE: SELF BALANCING ROBOT

Team Members -
• Name : Mayank Sharma [ Team Leader]
Roll.No : 2000290400068
• Name : Prince
Roll.No: 2000290400083
 INTRODUCTION
• Self balancing robot is the bot balance
itself on two wheels, by constantly
correcting its position.
• We move our finger in the direction in
which the stick is falling. Similar is the case
with a self-balancing robot, only that the
robot will fall either forward or backward.
Just like how we balance a stick on our
finger, we balance the robot by driving its
wheels in the direction in which it is
falling.
 WORKING OF SELF BALANCING ROBOT
o A Gyro sensor is used in self balancing robot, which continuously sends the
robot orientation data to the controller. On the basis of this data controller
command the motor to run forward or reverse to maintain the position of
robot up straight.

o This is the ideal position of self balancing robot,

body is perfectly up staring on the wheel
There is zero angle between the Y axis and body
of robot.
• When body tilt in forward direction then there is
some angle between Y axis and body.
This angle is detected by MPU6050 gyro sensor,
then this data send to Arduino.
Arduino now do PID calculation and command
the stepper motor to run in
forward direction to minimize the tilt angle upto
zero degree.

• Same thing happens if when robot tilt in

backward direction, motor will rotate in
backward direction and correct the tilt angle to
zero.
The bot in continue running motor forward and
reverse more then 400 times in second so its
looks us like robot is stable at its place.
 TECHNOLOGY USED

• Here we are using Mode MCU ESP32 Wi-fi Microcontroller as a Brain of the
Robot, this board has inbuild Wi-Fi. We have used this Wi-fi Feature to
Control the Robot in desired direction.
• We have used MPU6050 Gyro Sensor to Detect the movement of the Robot.
• To Drive the Motor we have used A4988 Stepper Motor Driver.
 CIRCUIT

• This is the Circuit

Diagram of the Self
Balancing Robot.
PCB
THANKYOU