Self-Balancing Stick Using Pluto Flight Controller

Most balancing robots use wheels.

Segways move their wheels forward and backward to maintain balance. But I wanted to explore a different approach: could a simple wooden ruler balance itself using thrust generated by motors?

That question led to the development of a self-balancing stick using the Pluto Flight Controller and two coreless DC motors.

1. Pluto Flight Controller
2. Two Coreless DC Motors
3. Two 55 mm Propellers
4. LiPo Battery
5. Wooden Ruler
6. Pivot Mechanism
7. Mounting Hardware

1. A wooden ruler is used as the main body.
2. The lower end is attached to a single-axis pivot that allows movement only in one direction.
3. The two motors are mounted at the top of the ruler.
4. The Pluto flight controller is mounted approximately 20–25 cm above the pivot.
5. The battery is mounted lower to reduce the center of mass.

When the stick tilts:

1. Right tilt activates the right motor.
2. Left tilt activates the left motor.

The thrust generated by the motor produces a restoring torque that returns the stick toward the vertical position.

The controller equation is:

PD Output = KP × Angle + KD × Angular Velocity

The final controller gains used were:

KP = 20

KD = 2

The self-balancing stick was able to maintain its upright position and recover from external disturbances.

This project demonstrates the application of control systems, sensor fusion, and embedded systems using a flight controller.