• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2021.05a
• /
• pp.289-290
• /
• 2021

Recently, with the advent of the 4th industrial revolution, the role of robots is increasing, and the use of robots is also increasing in the service field. The most popular model for nonlinear research related to robots is the inverted pendulum system. A balancing robot using an inverted pendulum system is a representative nonlinear system and is mainly used to study control theory and other kinematic structures. In this paper, the state of the robot is measured using the 3-axis acceleration sensor (ADXL345) and 3-axis digital output gyro sensor (ITG-3200) or HMC5883L required for balancing robot control, and using the ESP32-WROOM-32 module. I want to design an MCU module that can control a balancing robot. In addition, by using the ESP32-WROOM-32 MCU module, we intend to design an MCU module that can monitor the state of the balancing robot based on WiFi or Bluetooth.