{"id":774,"date":"2026-11-09T21:50:57","date_gmt":"2026-11-09T21:50:57","guid":{"rendered":"https:\/\/build-mode-ak.com\/videos\/self-balancing-robot-2\/"},"modified":"2026-11-10T10:38:06","modified_gmt":"2026-11-10T10:38:06","slug":"self-balancing-robot","status":"publish","type":"video","link":"https:\/\/build-mode-ak.com\/es\/videos\/self-balancing-robot\/","title":{"rendered":"Constru\u00ed un robot autoequilibrado: tres lazos de control"},"content":{"rendered":"<section class=\"sws-page-title alignfull wp-block-sws-theme-page-title\">\n\t<div class=\"sws-page-title__inner\">\n\t\t\n\t\t\t\t\t<nav class=\"sws-page-title__nav\" aria-label=\"Migas de pan\">\n\t\t\t\t<ol class=\"sws-page-title__trail\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<li class=\"sws-page-title__crumb\"\n\t\t\t\t\t\t\t>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<a class=\"sws-page-title__link\" href=\"https:\/\/build-mode-ak.com\/es\/\">Inicio<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/ol>\n\t\t\t<\/nav>\n\t\t\t<\/div><!-- .sws-page-title__inner -->\n\n\t\t\t<div class=\"sws-page-title__shapes\" aria-hidden=\"true\">\n\t\t\t\t\t\t\t<span class=\"sws-page-title__shape sws-page-title__shape--accent\">\n\t\t\t\t\t<svg class=\"sws-page-title__icon\" aria-hidden=\"true\" focusable=\"false\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 64 64\" fill=\"none\" stroke=\"currentColor\" stroke-width=\"4\" stroke-linecap=\"round\" stroke-linejoin=\"round\">\n  <path d=\"M7 32h10l4-10 6 20 6-20 6 20 6-20 4 10h8\"\/>\n<\/svg>\t\t\t\t<\/span>\n\t\t\t\t\t\t\t<span class=\"sws-page-title__shape sws-page-title__shape--secondary\">\n\t\t\t\t\t<svg class=\"sws-page-title__icon\" aria-hidden=\"true\" focusable=\"false\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 64 64\" fill=\"none\" stroke=\"currentColor\" stroke-width=\"4\" 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stroke-linejoin=\"round\">\n  <path d=\"M7 40h9C16 18 24 18 24 40C24 18 32 18 32 40C32 18 40 18 40 40C40 18 48 18 48 40h9\"\/>\n<\/svg>\t\t\t\t<\/span>\n\t\t\t\t\t<\/div>\n\t<\/section>\n\n\n<div class=\"sws-video-player sws-video-player--own sws-video-player--long wp-block-sws-theme-video-player\">\n\t<div class=\"sws-video-player__list\">\n\t\t\t\t\t\t\t\t<div class=\"sws-video-player__item sws-video-player__item--long\">\n\t\t\t\t<div class=\"sws-video-player__stage\"\n\t\t\t\t\tdata-embed=\"https:\/\/www.youtube-nocookie.com\/embed\/nDDhm-58iK8?autoplay=1&#038;playsinline=1&#038;rel=0&#038;hl=es-ES\"\n\t\t\t\t\tdata-title=\"Constru\u00ed un robot autoequilibrado: tres lazos de control\">\n\t\t\t\t\t<a class=\"sws-video-player__poster\" href=\"https:\/\/www.youtube.com\/watch?v=nDDhm-58iK8\">\n\t\t\t\t\t\t<img decoding=\"async\" width=\"1024\" height=\"576\" src=\"https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/self-balancing-robot-poster-1024x576.jpg\" class=\"sws-video-player__image\" alt=\"\" loading=\"eager\" sizes=\"(min-width: 1180px) 1116px, 100vw\" fetchpriority=\"high\" srcset=\"https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/self-balancing-robot-poster-1024x576.jpg 1024w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/self-balancing-robot-poster-300x169.jpg 300w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/self-balancing-robot-poster-768x432.jpg 768w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/self-balancing-robot-poster.jpg 1280w\" \/>\t\t\t\t\t\t<span class=\"sws-video-player__play\"><svg class=\"sws-video-player__play-icon\" aria-hidden=\"true\" focusable=\"false\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 64 64\" fill=\"none\" stroke=\"currentColor\" stroke-width=\"4\" stroke-linecap=\"round\" stroke-linejoin=\"round\">\n  <path d=\"M22 14l28 18-28 18z\" fill=\"currentColor\"\/>\n<\/svg><\/span>\n\t\t\t\t\t\t<span class=\"screen-reader-text\">\n\t\t\t\t\t\t\tReproducir el v\u00eddeo: Constru\u00ed un robot autoequilibrado: tres lazos de control\t\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"sws-video-player__length\" aria-hidden=\"true\">8:40<\/span>\n\t\t\t\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t<\/div>\n\n\t\t\t\t\n\t\t\t\t<ul class=\"sws-video-player__links\">\n\t\t\t\t\t<li class=\"sws-video-player__links-item\">\n\t\t\t\t\t\t<a class=\"sws-video-player__link\" href=\"https:\/\/www.youtube.com\/watch?v=nDDhm-58iK8\" target=\"_blank\" rel=\"noopener\">\n\t\t\t\t\t\t\t<svg class=\"sws-video-player__link-icon\" aria-hidden=\"true\" focusable=\"false\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 64 64\" fill=\"none\" stroke=\"currentColor\" stroke-width=\"4\" stroke-linecap=\"round\" stroke-linejoin=\"round\">\n  <rect x=\"4\" y=\"13\" width=\"56\" height=\"38\" rx=\"11\"\/>\n  <path d=\"M27 22l16 10-16 10z\" fill=\"currentColor\" stroke=\"none\"\/>\n<\/svg>\t\t\t\t\t\t\tVer en YouTube\t\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t\t<\/ul>\n\t\t\t<\/div>\n\t\t\t<\/div>\n\n\t<p class=\"sws-video-player__notice\">\n\t\tAl pulsar reproducir, el v\u00eddeo se carga desde YouTube.\t\t\t\t\t<a class=\"sws-video-player__notice-link\" href=\"https:\/\/build-mode-ak.com\/es\/privacy-policy\/\">Pol\u00edtica de privacidad<\/a>\n\t\t\t<\/p>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Motores con escobillas, un ESP32 y un MPU-6500 \u2014 y tres lazos de control, cada uno arreglando lo que el anterior no pod\u00eda. El lazo de \u00e1ngulo (PID, 500 veces por segundo) lo mantiene de pie, pero se va rodando 27 cm. El lazo de velocidad lo devuelve a una franja de 30 cm. El lazo de posici\u00f3n lo trae de vuelta a casa con 3 cm de margen \u2014 y luego anda por Wi-Fi y salta de una b\u00e1scula de ba\u00f1o. Tres lazos, un LQR o una red neuronal \u2014 \u00bfpor cu\u00e1l apostar\u00edas?<\/p>\n\n\n<section class=\"sws-video-related wp-block-sws-theme-video-related\">\n\t<h2 class=\"sws-video-related__heading\">M\u00e1s sobre este montaje<\/h2>\n\n\t<div class=\"sws-video-related__grid\">\n\t\t<article class=\"sws-card post-791 post type-post status-publish format-standard has-post-thumbnail hentry category-sin-categorizar tag-esp32-es topic-esp32-es topic-impresion-3d topic-motores topic-sensores\">\n\n\t\t\t<a class=\"sws-card__media\" href=\"https:\/\/build-mode-ak.com\/es\/esp32-self-balancing-robot\/\" aria-hidden=\"true\" tabindex=\"-1\">\n\t\t\t\n\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"480\" src=\"https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/esp32-self-balancing-robot-01-cover-768x480.jpg\" class=\"attachment-medium_large size-medium_large wp-post-image\" alt=\"The robot standing on the bed of a black Creality 3D printer: an orange three-floor frame with a pack of 18650 cells on top, a small lit screen and wiring in the middle, two motor drivers with black heatsinks below, and two black wheels with blue rims.\" srcset=\"https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/esp32-self-balancing-robot-01-cover-768x480.jpg 768w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/esp32-self-balancing-robot-01-cover-300x188.jpg 300w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/esp32-self-balancing-robot-01-cover-1024x640.jpg 1024w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/esp32-self-balancing-robot-01-cover-1536x960.jpg 1536w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/esp32-self-balancing-robot-01-cover-2048x1280.jpg 2048w, https:\/\/build-mode-ak.com\/wp-content\/uploads\/2026\/11\/esp32-self-balancing-robot-01-cover-1920x1200.jpg 1920w\" sizes=\"auto, (max-width: 768px) 100vw, 768px\" \/>\n\t\t\t\t\t<\/a>\n\t\n\t<div class=\"sws-card__body\">\n\n\t\t<h3 class=\"sws-card__title\"><a class=\"sws-card__link\" href=\"https:\/\/build-mode-ak.com\/es\/esp32-self-balancing-robot\/\" rel=\"bookmark\">Robot autoequilibrado con ESP32: tres lazos de control<\/a><\/h3>\n\t\t\t\t\t<time class=\"sws-card__date\" datetime=\"2026-11-10T10:35:04+00:00\">\n\t\t\t\tnoviembre 10, 2026\t\t\t<\/time>\n\t\t\n\t\t\t\t\t<p class=\"sws-card__excerpt\">Diez d\u00edas, un robot, tres lazos de control. C\u00f3mo nuestro robot autoequilibrado con ESP32 y motores con escobillas aprendi\u00f3 a mantenerse de pie, a volver tras un empuj\u00f3n, a quedarse en su sitio y a dejarse conducir por Wi-Fi, con las cifras de sus registros y el firmware que lo hizo funcionar.<\/p>\n\t\t\n\t\t\t\t\t<ul class=\"sws-card__topics\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<li class=\"sws-card__topic\">\n\t\t\t\t\t\t<a class=\"sws-card__topic-link\" href=\"https:\/\/build-mode-ak.com\/es\/topic\/esp32-es\/\">ESP32<\/a>\n\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<li class=\"sws-card__topic\">\n\t\t\t\t\t\t<a class=\"sws-card__topic-link\" href=\"https:\/\/build-mode-ak.com\/es\/topic\/impresion-3d\/\">Impresi\u00f3n 3D<\/a>\n\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<li class=\"sws-card__topic\">\n\t\t\t\t\t\t<a class=\"sws-card__topic-link\" href=\"https:\/\/build-mode-ak.com\/es\/topic\/motores\/\">Motores<\/a>\n\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<li class=\"sws-card__topic\">\n\t\t\t\t\t\t<a class=\"sws-card__topic-link\" href=\"https:\/\/build-mode-ak.com\/es\/topic\/sensores\/\">Sensores<\/a>\n\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t<\/ul>\n\t\t\n\t<\/div><!-- .sws-card__body -->\n\n<\/article><!-- .sws-card -->\n\t<\/div>\n<\/section>\n\n\n<div class=\"sws-spacer sws-spacer--medium wp-block-sws-theme-spacer\" aria-hidden=\"true\"><\/div>\n\n","protected":false},"excerpt":{"rendered":"<p>Motores con escobillas, un ESP32 y un MPU-6500 \u2014 y tres lazos de control, cada uno arreglando lo que el anterior no pod\u00eda. El lazo de \u00e1ngulo (PID, 500 veces por segundo) lo mantiene de pie, pero se va rodando 27 cm. El lazo de velocidad lo devuelve a una franja de 30 cm. El lazo de posici\u00f3n lo trae de vuelta a casa con 3 cm de margen \u2014 y luego anda por Wi-Fi y salta de una b\u00e1scula de ba\u00f1o. Tres lazos, un LQR o una red neuronal \u2014 \u00bfpor cu\u00e1l apostar\u00edas?<\/p>\n","protected":false},"featured_media":762,"template":"","topic":[58,80,86,91],"class_list":["post-774","video","type-video","status-publish","has-post-thumbnail","hentry","topic-esp32-es","topic-impresion-3d","topic-motores","topic-sensores"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.5 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Constru\u00ed un robot autoequilibrado: tres lazos de control - Build Mode<\/title>\n<meta name=\"description\" content=\"Motores con escobillas, un ESP32 y un MPU-6500 \u2014 y tres lazos de control, cada uno arreglando lo que el anterior no pod\u00eda.\" \/>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/build-mode-ak.com\/es\/videos\/self-balancing-robot\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Constru\u00ed un robot autoequilibrado: tres lazos de control - 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