International Journal of Research and Scientific Innovation (IJRSI)
Boomboom Balancino Bot (BBB): Gyro-Stabilized Straight-Line Robot Using Mpu6050 Feedback Control
Published January 23, 2026 • Vol. 13, Issue 1, pp. 274–286Open Access
DOI: 10.51244/IJRSI.2026.13010025
Abstract
This project presents the design and implementation of a BBB (BoomboomBalancinoBot) gyro-stabilized straight-line mobile robot that demonstrates the core principles of feedback and control systems using low-cost embedded hardware. The system uses an ESP32-C3 microcontroller, an MPU6050 inertial sensor, and a TB6612FNG motor driver to control a two-wheel differential-drive robot with a rear caster wheel. The robot estimates its yaw (heading) by integrating the MPU6050’s gyroscope Z-axis readings, then applies a closed-loop PID controller to minimize heading error by adjusting left and right motor speeds. A web-based interface allows users to command motion and switch between open-loop (feedback OFF) and closed-loop (feedback ON) operation, enabling clear demonstration of drift versus automatic correction under disturbances such as wheel slip or external pushing. The project highlights how real-time sensor feedback improves stability and accuracy in mobile robot navigation, closely relating to heading-hold control used in autopilot and course-keeping systems.
Keywords: Feedback Control, PID Controller, MPU6050 Gyroscope, Heading Hold
| Journal | International Journal of Research and Scientific Innovation (IJRSI) |
|---|---|
| ISSN | 2321-2705 |
| Volume / Issue | Volume 13, Issue 1 |
| Pages | 274–286 |
| Publication date | January 23, 2026 |
| DOI | 10.51244/IJRSI.2026.13010025 |
| Publisher | RSIS International |
| License | Open Access |
How to cite this article
Luisito Bernardo, Dwight Baines Camposano, Lynard Espiritu, Judemar Silmar, Steve Villa, & Engr. Bernard C. Fabro (2026). Boomboom Balancino Bot (BBB): Gyro-Stabilized Straight-Line Robot Using Mpu6050 Feedback Control. International Journal of Research and Scientific Innovation (IJRSI), 13(1), 274-286. https://doi.org/10.51244/IJRSI.2026.13010025
BibTeX
@article{Luisito2026,
title = {Boomboom Balancino Bot (BBB): Gyro-Stabilized Straight-Line Robot Using Mpu6050 Feedback Control},
author = {Luisito Bernardo and Dwight Baines Camposano and Lynard Espiritu and Judemar Silmar and Steve Villa and Engr. Bernard C. Fabro},
journal = {International Journal of Research and Scientific Innovation (IJRSI)},
volume = {13},
number = {1},
pages = {274--286},
year = {2026},
doi = {10.51244/IJRSI.2026.13010025},
publisher = {RSIS International}
}