Self balancing robot Part1 – Buying parts

For build our robot we will need following components. I found cheapest on eBay.

1x Arduino Pro Mini atmega328 5V 16M

Arduino main part Robot

1x FTDI Basic Breakout USB-TTL 6 PIN 3.3/5V For Arduino(Micro USB) (for programing)


1x MPU-6050 Module 3 Axis Gyroscope+Accelerometer Module for Arduino


1x Stepper Motor Drive Controller Board Module L298N Dual H Bridge DC For Arduino


4x Intelligent Car Gear Motor Robot Gear Motor TT Motor for Arduino


4x Small Smart Car Model Robot Plastic Tire Wheel 66mm x 26mm for Robotic


other electronics components:
2x capacitors 200nF
1x capacitors 150mF
3x potentiometer 10k Ohm
1x swicth ON/OFF
2m wire

aluminum parts:
1x 100mm U profile (100mm width)
3x plate Al 100x100x2
4x  threaded rod 200mm (diameter 3mm)
2x 100mm U profile (50mm width)

24x nut (diameter 3mm)
1x 100×60 universal PCB (O-O-O O-O-O …..)

Control theory of the self-balancing unicycle

Creating a self-powered unicycle that balances itself in three dimensions is a robotics and control theory problem. A self-balancing unicycle can be considered as a non-linear control system similar to that of a two-dimensional inverted pendulum with a unicycle cart at its base. There are many higher-order effects involved in modelling the full system. Rotation of the drive wheel itself can provide control in only one dimension, forwards and backwards. Control in other dimensions generally requires other actuators, such as auxiliary pendulums, reaction wheels, or control moment gyroscopes attached to the main unicycle pendulum.