STM32×AIで「3軸倒立振子」を作る25日間（ひとりアドカレ） Advent Calendar 2025

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Category：Solo Advent Calendar

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@RamTuckey

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「3軸リアクションホイール倒立振子（Cubli）」をゼロから自作します。

ただ作るだけでなく、最新のトレンドである「Sim2Real（シミュレータから実機へ）」や「Edge AI（マイコン実装）」の手法を取り入れ、理論と実装の両面から攻めます。

【主な技術スタック】

MCU: STM32G474 (Cortex-M4, FOC制御)

AI/Sim: PyTorch, Isaac Gym, STM32Cube.AI

制御: 現代制御理論(LQR), 強化学習(RL)

ハード: 自作基板(KiCad), 3Dプリンタ筐体

25日間で、設計・シミュレーション・HIL（Hardware In the Loop）テストを経て、実機を自立させるところまでできたらいいなぁ…

How to join the calendar

You can join the calendar by selecting an available date and registering the URL of the article you wish to link to. If a slot is available, you can go back to a past date to join!

Series 1

Sunday	Monday	Tuesday	Wednesday	Thursday	Friday	Saturday
30	@RamTuckey なぜ今、3軸リアクションホイール倒立振子 (Cubli) を作るのか【Day 1】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey PCの中にロボットの分身を作った：PyBulletによる物理シミュレーション環境構築【Day 2】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 筐体設計：Fusion 360で「慣性モーメント」を最大化するパラメトリック設計【Day 3】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey デジタルツインの誕生：Fusion 360の設計データを物理エンジンに召喚する【Day 4】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 器（うつわ）に魂を入れる：PyBulletで実装するPID制御【Day 5】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 現代制御の勝利：LQRで導く「数学的最適解」の実力【Day 6】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use
@RamTuckey Sim2Realへの挑戦：深層強化学習(Deep RL)とドメインランダマイゼーションで「転ばないAI」を育てる【Day 7】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ハードウェア選定の要：なぜSTM32G4なのか Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 回路設計 Part 1：STM32G474とモータドライバ Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 回路設計 Part 2：ノイズ対策と電源設計 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey センサフュージョンと姿勢推定 (Madgwick Filter) Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ベクトル制御 (FOC) の理論と実装 Part 1 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ベクトル制御 (FOC) の理論と実装 Part 2 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use
@RamTuckey 基板発注と実装の職人芸 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey Edge AI入門：PyTorchからONNXへの変換 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey STM32Cube.AIによるCコード生成 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey モデルの量子化 (Quantization) と最適化 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 推論エンジンのマイコン実装 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey HIL (Hardware In the Loop) シミュレーションとは Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 高速シリアル通信の実装 (USB CDC) Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use
@RamTuckey HILによる適応制御テスト Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 3Dプリント筐体の組み立てと配線 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey トラブルシューティング：開発中にハマった罠 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ソースコードと回路図の公開 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 最終デモと今後の展望 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	26	27

@RamTuckey
なぜ今、3軸リアクションホイール倒立振子 (Cubli) を作るのか【Day 1】
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PCの中にロボットの分身を作った：PyBulletによる物理シミュレーション環境構築【Day 2】
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筐体設計：Fusion 360で「慣性モーメント」を最大化するパラメトリック設計【Day 3】
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デジタルツインの誕生：Fusion 360の設計データを物理エンジンに召喚する【Day 4】
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器（うつわ）に魂を入れる：PyBulletで実装するPID制御【Day 5】
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現代制御の勝利：LQRで導く「数学的最適解」の実力【Day 6】
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Sim2Realへの挑戦：深層強化学習(Deep RL)とドメインランダマイゼーションで「転ばないAI」を育てる【Day 7】
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ハードウェア選定の要：なぜSTM32G4なのか
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回路設計 Part 1：STM32G474とモータドライバ
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回路設計 Part 2：ノイズ対策と電源設計
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センサフュージョンと姿勢推定 (Madgwick Filter)
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ベクトル制御 (FOC) の理論と実装 Part 1
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ベクトル制御 (FOC) の理論と実装 Part 2
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基板発注と実装の職人芸
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Edge AI入門：PyTorchからONNXへの変換
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STM32Cube.AIによるCコード生成
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モデルの量子化 (Quantization) と最適化
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推論エンジンのマイコン実装
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HIL (Hardware In the Loop) シミュレーションとは
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高速シリアル通信の実装 (USB CDC)
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HILによる適応制御テスト
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3Dプリント筐体の組み立てと配線
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トラブルシューティング：開発中にハマった罠
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ソースコードと回路図の公開
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最終デモと今後の展望
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Sunday	Monday	Tuesday	Wednesday	Thursday	Friday	Saturday
30	@RamTuckey なぜ今、3軸リアクションホイール倒立振子 (Cubli) を作るのか【Day 1】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey PCの中にロボットの分身を作った：PyBulletによる物理シミュレーション環境構築【Day 2】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 筐体設計：Fusion 360で「慣性モーメント」を最大化するパラメトリック設計【Day 3】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey デジタルツインの誕生：Fusion 360の設計データを物理エンジンに召喚する【Day 4】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 器（うつわ）に魂を入れる：PyBulletで実装するPID制御【Day 5】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 現代制御の勝利：LQRで導く「数学的最適解」の実力【Day 6】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use
@RamTuckey Sim2Realへの挑戦：深層強化学習(Deep RL)とドメインランダマイゼーションで「転ばないAI」を育てる【Day 7】 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ハードウェア選定の要：なぜSTM32G4なのか Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 回路設計 Part 1：STM32G474とモータドライバ Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 回路設計 Part 2：ノイズ対策と電源設計 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey センサフュージョンと姿勢推定 (Madgwick Filter) Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ベクトル制御 (FOC) の理論と実装 Part 1 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ベクトル制御 (FOC) の理論と実装 Part 2 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use
@RamTuckey 基板発注と実装の職人芸 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey Edge AI入門：PyTorchからONNXへの変換 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey STM32Cube.AIによるCコード生成 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey モデルの量子化 (Quantization) と最適化 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 推論エンジンのマイコン実装 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey HIL (Hardware In the Loop) シミュレーションとは Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 高速シリアル通信の実装 (USB CDC) Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use
@RamTuckey HILによる適応制御テスト Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 3Dプリント筐体の組み立てと配線 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey トラブルシューティング：開発中にハマった罠 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey ソースコードと回路図の公開 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	@RamTuckey 最終デモと今後の展望 Overwrite Title URL You can post either your article on Qiita or your blog post. About reserved posting If you register a secret article by the day before the same day, it will be automatically published around 7:00 on the same day. About posting period Only articles submitted after October 31, 2025 can be registered. (Secret articles can be registered anytime articles are posted.) When you participate, we will assume that you have agreed to the terms of use	26	27

@RamTuckey
なぜ今、3軸リアクションホイール倒立振子 (Cubli) を作るのか【Day 1】
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PCの中にロボットの分身を作った：PyBulletによる物理シミュレーション環境構築【Day 2】
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筐体設計：Fusion 360で「慣性モーメント」を最大化するパラメトリック設計【Day 3】
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デジタルツインの誕生：Fusion 360の設計データを物理エンジンに召喚する【Day 4】
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器（うつわ）に魂を入れる：PyBulletで実装するPID制御【Day 5】
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現代制御の勝利：LQRで導く「数学的最適解」の実力【Day 6】
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Sim2Realへの挑戦：深層強化学習(Deep RL)とドメインランダマイゼーションで「転ばないAI」を育てる【Day 7】
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ハードウェア選定の要：なぜSTM32G4なのか
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回路設計 Part 1：STM32G474とモータドライバ
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回路設計 Part 2：ノイズ対策と電源設計
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センサフュージョンと姿勢推定 (Madgwick Filter)
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ベクトル制御 (FOC) の理論と実装 Part 1
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ベクトル制御 (FOC) の理論と実装 Part 2
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基板発注と実装の職人芸
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Edge AI入門：PyTorchからONNXへの変換
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STM32Cube.AIによるCコード生成
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モデルの量子化 (Quantization) と最適化
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推論エンジンのマイコン実装
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HIL (Hardware In the Loop) シミュレーションとは
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高速シリアル通信の実装 (USB CDC)
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HILによる適応制御テスト
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3Dプリント筐体の組み立てと配線
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トラブルシューティング：開発中にハマった罠
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ソースコードと回路図の公開
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最終デモと今後の展望
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You can increase the number of series when Calendar 1 is filled with more than 10 articles.

STM32×AIで「3軸倒立振子」を作る25日間（ひとりアドカレ） Advent Calendar 2025

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Series 1

How to join the calendar