Gypul — self-balancing education robot
Gypul is a low-cost self-balancing robot platform built for classrooms and makerspaces. It uses an IMU for stabilisation, an ESP32 microcontroller for control, and 3D-printed parts for easy assembly. Students use it to learn PID control, sensor fusion and embedded programming.
How it works
An inertial measurement unit reports the robot’s tilt angle, and a PID control loop running on the ESP32 drives the motors to keep the robot upright. The chassis is 3D printed so it can be reproduced cheaply.