Independent Project · Controls and Robotics
Designed and built robot that used closed-loop feedback to detect changes in attitude and command its motors to remain upright.
Project overview
This project combined mechanical design, electronics, sensing, motor actuation, and feedback control in a compact robotic platform.
The robot continuously measured its attitude, calculated its deviation from the upright position, and commanded its motors to correct the motion before it fell.
My role
I was responsible for the full development process, including CAD, component layout, mechanical assembly, wiring, control logic, software implementation, testing, and controller tuning.
Building the project independently required each mechanical, electrical, and software decision to work within the same physical system.
System design
The frame supported the electronics and positioned the mass, wheels, and motors around the balancing axis.
An onboard IMU measured the robot’s orientation and angular motion relative to its upright position.
The controller compared the measured attitude with the desired upright state and calculated a corrective command.
The motors moved the wheelbase beneath the robot’s center of mass to oppose the direction of the fall.
Technical highlights
Attitude feedback
The upright position was inherently unstable. Small attitude errors had to be detected quickly so the controller could respond before the robot moved beyond its recoverable range. PID control was utilized to correct the errors.
Motor control
When the robot leaned, the motors accelerated in the direction of the fall. This moved the wheelbase back underneath the center of mass and generated the corrective response needed to remain upright.
Controller gains were adjusted through repeated testing to balance response speed, stability, and motor behavior.
Testing and integration
Planned the component layout and verified that the hardware could fit within the robot’s structure.
Integrated the motors, controller, sensors, power system, and supporting electronics.
Adjusted the control response through repeated balance tests and observed hardware behavior.
Demonstrated the robot’s ability to detect attitude changes and maintain an upright position.
What I learned
This project showed me that controller performance depends on much more than the control logic alone. Sensor behavior, motor response, weight distribution, mechanical construction, and wiring all affected how the robot responded.
Designing and building every part of the system reinforced the importance of developing the mechanical, electrical, and software systems together.
Return to all projects