astrid dot tech

Mini Segway Bot

A 3D-printed robot that balances on 2 wheels for 30 seconds

January 2019 - March 2019

cpp Arduino Robotics Circuit Design Control Systems stepper-motors motion-sensing Sensor Fusion fusion-360


Or, a 2D view of it for unsupported browsers:

An image of the segway

  • Designed, programmed, manufactured, and assembled a robot that can balance itself for 30 seconds on a carpet floor.
  • Fused data from accelerometer and gyroscope to determine robot tilt.
  • Researched methods to filter data more accurately, including moving average and exponential smoothing, complementary filters and Kalman filters.