Self Balancing robot

I always wanted to get my hands on this gravity defying robot and so I built one. This is just a basic model as the motors used are pretty cheap with serious backlash in the gear box and so adds to the oscillation of the robot. Anyway, my ultimate aim was to understand how the data from the IMU is used to proportionally control the motors and I successfully acquired that knowledge.

Видео Self Balancing robot канала dhruvdroids