Smart Embedded Design for Android Application Based Control of Self Balancing Robot

Self balancing robot is considered to be an important development in the field of mobile robot platform. This paper presents the design of smart embedded system for controlling the direction and speed of stepper motor driving the self balanced robot. The control of speed and direction of stepper motor is very critical to ensure the stability of two-wheeled robot. The stability of two-wheeled robot is ensured by maintaining the upright walking position. The proposed smart embedded system is designed to perform sensing, control and actuation. The hardware and software co-design allows the control of self-balancing robot using an Android device.