What does it take to build self balancing robot. If you wanna skip heavy book reading check out Kerry D. Wong’s series of project logs. Starting with simple idea and little bit of theory in part 1 then he goes to real world implementation. Circuit is based on Atmega328p microcontroller which takes care of reading MMA8453Q accelerometer and LPY450AL gyroscope data and according to calculated inclination angle controls motor using H-bridge.
Motor and gear box is taken from motor car toy and seems to work well. And most motivating in this that building self balancing robot doesn’t cost much – just under $20.