Abstract: This paper proposes a self-balancing robot using the concept of inverted pendulum. Self-balancing of the robot can be achieved by adjusting its Centre of gravity by the means of acceleration and torque applied on its wheels. The self-balancing robot is designed using motors, sensors and microprocessor. This type of robot has earned interest and fame among researchers and engineers of worldwide as it based on such a control system that is used to stabilize an unstable system using efficient micro controllers and sensors. These robots provide exceptional robustness and capability due to their smaller size and power requirements. These types of implementations find applications in several purposes such as surveillance & transportation. This project is based on development of a self-balanced two wheeled robot. In particular, the focus is on the electro-mechanical mechanisms & control algorithms required to enable the robot to perceive and act in real time. Similar concept can be applied in various control system with complex implementation such as humanoid robot, industrial robots, etc

| DOI: 10.17148/IARJSET.2021.86157