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Self-balancing Segway

We programmed a self-balancing Segway that "dances" according to the audio. The audio input is sampled and analysed for beats, executing the dance moves through the MicroPython controller.

I programmed the self-balancing PID control system, which takes in data input through both the gyroscope and accelerometer. The Segway continuously balance itself with the help of the feed-forward control and negative feedback.


The signals are sampled and filtered using band-pass filters to eliminate noises and drifts for better accuracy.

A demonstration of the Segway can be found here:

Details and documentation of the project can be found on my Github.

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