The Inverted Pendulum Robot is a two-wheeled inverted pendulum designed to demonstrate real-time feedback control and dynamic stability for K–12 STEM outreach. The robot actively balances itself by measuring its tilt angle, computing corrections through a PID controller, and adjusting wheel motion to stay upright. This allows students to interact with the robot physically while observing how control systems respond to disturbances.

The mechanical frame was 3D printed, allowing for quicker mass-production so the robot can make it out to more schools quicker. The system integrates an RP2040 board, quad-DC motors with encoders, a magnetic encoder for tilt sensing, a layered chassis for organized electronics, and a touchscreen for classroom interaction. All components were selected to be low-cost and quickly mass-producible.

This robot serves as a hands-on demonstration of core engineering concepts such as system modeling, instability, feedback loops, and controller tuning. It also lays the foundation for future enhancements, including expanded data visualization and improved user interaction for classroom demonstrations.

Parts List

	DC Motor with Encoder
	TMC2208 Motor Driver
	Magnetic Encoder
	Raspberry Pi Pico / RP2040 Board
	ST7796S 4.0" LCD Touchscreen
	3.2V LiFePO4 Battery
	4S 30A 12.8V BMS
	14.6 Volt 2A Battery Charger
	3.3V Buck Converter
	470uF Electrolytic Capacitors And 1A 20V Schottky Diode