1. Elecbits
Self-Balancing Robot

2. Self-Balancing Robot Description
This SBR Project consist of Arduino UNO-R3.
UNO take data from Sensors And using PID control drives motor to balance the robot in upright posture.
If robot feels jerk in forward direction then it will oppose that force and try to remain balanced position as it was.
It uses some DSP filters like Kalman filter, Digital Low Pass Filter and Digital High Pass filter.

3. Block Diagram

4. Working
The Self-balancing Robot works on principle of Inverted pendulum.
UNO takes Gyroscope and accelerometer data from MPU using I2C.
Process data using above mentioned DSP filters and give driving parameters to PID controller.
Using above process, Sensors and Actuators SBR balances itself about axis passing through its centre of gravity.

5. Applications
Self-balancing robot algorithm used in rocket propulsion system.
It can be implemented on Segway.
It can be used for surveillance in any terrain.

6. Thank You