FILE:P-04
YEAR:2025–26
REV:WIP
§ PROJECT · A-LEVEL · IN PROGRESS
Self-Balancing
Desk Robot.
A two-wheel desk companion designed to stay upright using LQR control and Kalman sensor fusion — my A-Level Computer Science project. This page tracks the live build: mechanical assembly first, then firmware, control theory, voice interaction, sensing and docking.
Year2025 — 26
StatusIn progress
ContextA-Level project
StackESP32 · LQR
BUILD LOG · WORK IN PROGRESS
REV · WIP · 2026
Build log in progress.
I’m currently working through the mechanical assembly, firmware architecture and control loop. The next update will document the chassis, PCB choices, LQR model, Kalman filter, voice interface and IR docking system as each part becomes reliable enough to explain clearly.
Project progress
0% overall
Mechanical assembly70%
Kalman filter (sensor fusion)0%
LQR controller (balance)0%
Voice (mic & speaker)0%
Obstacle / cliff sensing0%
IR dock self-charging0%
Companion app0%
What’s coming to this page
- 01 Mechanical CAD + 3D-printed chassis walkthrough.
- 02 Custom PCB design in KiCad — ESP32-S3, IMU, motor driver.
- 03 State-space model + LQR gain derivation (the maths bit).
- 04 Kalman filter for IMU fusion — written from scratch in C++.
- 05 Voice loop, wake word + offline command routing.
- 06 IR beacon docking and self-charge cycle.
- 07 Final build log video.