{"id":771,"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\/fr\/videos\/self-balancing-robot\/","title":{"rendered":"J&rsquo;ai construit un robot auto-\u00e9quilibr\u00e9 : trois boucles de r\u00e9gulation"},"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=\"Fil d\u2019Ariane\">\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\/fr\/\">Accueil<\/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=fr-FR\"\n\t\t\t\t\tdata-title=\"J&rsquo;ai construit un robot auto-\u00e9quilibr\u00e9 : trois boucles de r\u00e9gulation\">\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\tLire la vid\u00e9o : J&rsquo;ai construit un robot auto-\u00e9quilibr\u00e9 : trois boucles de r\u00e9gulation\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\tRegarder sur 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\tLa vid\u00e9o est charg\u00e9e depuis YouTube lorsque vous lancez la lecture.\t\t\t\t\t<a class=\"sws-video-player__notice-link\" href=\"https:\/\/build-mode-ak.com\/fr\/privacy-policy\/\">Politique de confidentialit\u00e9<\/a>\n\t\t\t<\/p>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Des moteurs \u00e0 balais, un ESP32 et un MPU-6500 \u2014 et trois boucles de r\u00e9gulation, chacune corrigeant ce que la pr\u00e9c\u00e9dente ne savait pas faire. La boucle d&rsquo;angle (PID, 500 fois par seconde) le tient debout, mais il part en roulant sur 27 cm. La boucle de vitesse le ram\u00e8ne dans une bande de 30 cm. La boucle de position le ram\u00e8ne chez lui \u00e0 3 cm pr\u00e8s \u2014 puis il roule en Wi-Fi et saute d&rsquo;un p\u00e8se-personne. Trois boucles, un LQR ou un r\u00e9seau de neurones \u2014 vous pariez sur lequel&nbsp;?<\/p>\n\n\n<section class=\"sws-video-related wp-block-sws-theme-video-related\">\n\t<h2 class=\"sws-video-related__heading\">En savoir plus sur ce montage<\/h2>\n\n\t<div class=\"sws-video-related__grid\">\n\t\t<article class=\"sws-card post-788 post type-post status-publish format-standard has-post-thumbnail hentry category-non-classe tag-esp32-fr topic-capteurs topic-esp32-fr topic-impression-3d topic-moteurs\">\n\n\t\t\t<a class=\"sws-card__media\" href=\"https:\/\/build-mode-ak.com\/fr\/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\/fr\/esp32-self-balancing-robot\/\" rel=\"bookmark\">Robot auto-\u00e9quilibr\u00e9 sur ESP32 : trois boucles de r\u00e9gulation<\/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\tnovembre 10, 2026\t\t\t<\/time>\n\t\t\n\t\t\t\t\t<p class=\"sws-card__excerpt\">Dix jours, un robot, trois boucles de r\u00e9gulation. Comment notre robot auto-\u00e9quilibr\u00e9 \u00e0 ESP32 et moteurs \u00e0 balais a appris \u00e0 tenir debout, \u00e0 revenir apr\u00e8s une pouss\u00e9e, \u00e0 garder sa place et \u00e0 se laisser piloter par Wi-Fi, avec les chiffres de ses journaux et le firmware qui l&#039;a fait fonctionner.<\/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\/fr\/topic\/capteurs\/\">Capteurs<\/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\/fr\/topic\/esp32-fr\/\">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\/fr\/topic\/impression-3d\/\">Impression 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\/fr\/topic\/moteurs\/\">Moteurs<\/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>Des moteurs \u00e0 balais, un ESP32 et un MPU-6500 \u2014 et trois boucles de r\u00e9gulation, chacune corrigeant ce que la pr\u00e9c\u00e9dente ne savait pas faire. La boucle d&rsquo;angle (PID, 500 fois par seconde) le tient debout, mais il part en roulant sur 27 cm. La boucle de vitesse le ram\u00e8ne dans une bande de 30 cm. La boucle de position le ram\u00e8ne chez lui \u00e0 3 cm pr\u00e8s \u2014 puis il roule en Wi-Fi et saute d&rsquo;un p\u00e8se-personne. Trois boucles, un LQR ou un r\u00e9seau de neurones \u2014 vous pariez sur lequel ?<\/p>\n","protected":false},"featured_media":762,"template":"","topic":[90,54,79,85],"class_list":["post-771","video","type-video","status-publish","has-post-thumbnail","hentry","topic-capteurs","topic-esp32-fr","topic-impression-3d","topic-moteurs"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.5 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>J&#039;ai construit un robot auto-\u00e9quilibr\u00e9 : trois boucles de r\u00e9gulation - Build Mode<\/title>\n<meta name=\"description\" content=\"Des moteurs \u00e0 balais, un ESP32 et un MPU-6500 \u2014 et trois boucles de r\u00e9gulation, chacune corrigeant ce que la pr\u00e9c\u00e9dente ne savait pas faire.\" \/>\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\/fr\/videos\/self-balancing-robot\/\" \/>\n<meta property=\"og:locale\" content=\"fr_FR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"J&#039;ai construit un robot auto-\u00e9quilibr\u00e9 : trois boucles de r\u00e9gulation - 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