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 (LQFP64) における高密度ピン配置戦略とモータ駆動回路の設計【Day 9】 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：FOCのノイズに勝つ！電源設計とアナログフロントエンドの実装【Day 10】 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 Sim-to-Real実装：PyTorchで学習した強化学習モデルをONNX経由でSTM32にデプロイする 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 FOC（ベクトル制御）理論詳解：3相モータを数学で「DCモータ化」する技術 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 姿勢推定アルゴリズム実装：STM32単体で検証する「Madgwickフィルタ」の性能 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 FOC実装編(1)：STM32タイマーで「SVPWM（空間ベクトル変調）」波形を生成する 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 Day 15: FOC実装編(2) 電流センシング（触覚）の実装 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 STM32と自作ドライバで挑むFOC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 倒立振子への道：ついにFOC完遂！電流フィードバックで「電子バネ」を作る 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 高性能IMU ICM-42688を実装し、物理法則を可視化する 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 1軸簡易カルマンフィルタで「センサフュージョン」の基礎を固める 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 3次元空間を制する「拡張カルマンフィルタ(EKF)」と「クォータニオン」 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 性能評価：拡張カルマンフィルタ(EKF)とMadgwickフィルタの特性比較 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 UARTは遅すぎる！STM32G4「クリスタルレスUSB」による高速テレメトリ環境の構築と通信規格の技術比較 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 Processing × USB CDCで、Cubliの「デジタルツイン」を錬成する 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 コンパイル不要のリアルタイムPID調整：STM32 USB-CLIの実装 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 最終回：Cubliは大地に立ったのか？筐体組立と「土下座」のグランドフィナーレ 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 (LQFP64) における高密度ピン配置戦略とモータ駆動回路の設計【Day 9】
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回路設計 Part 2：FOCのノイズに勝つ！電源設計とアナログフロントエンドの実装【Day 10】
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Sim-to-Real実装：PyTorchで学習した強化学習モデルをONNX経由でSTM32にデプロイする
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FOC（ベクトル制御）理論詳解：3相モータを数学で「DCモータ化」する技術
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姿勢推定アルゴリズム実装：STM32単体で検証する「Madgwickフィルタ」の性能
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FOC実装編(1)：STM32タイマーで「SVPWM（空間ベクトル変調）」波形を生成する
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Day 15: FOC実装編(2) 電流センシング（触覚）の実装
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STM32と自作ドライバで挑むFOC実装
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倒立振子への道：ついにFOC完遂！電流フィードバックで「電子バネ」を作る
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高性能IMU ICM-42688を実装し、物理法則を可視化する
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1軸簡易カルマンフィルタで「センサフュージョン」の基礎を固める
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3次元空間を制する「拡張カルマンフィルタ(EKF)」と「クォータニオン」
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性能評価：拡張カルマンフィルタ(EKF)とMadgwickフィルタの特性比較
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UARTは遅すぎる！STM32G4「クリスタルレスUSB」による高速テレメトリ環境の構築と通信規格の技術比較
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Processing × USB CDCで、Cubliの「デジタルツイン」を錬成する
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コンパイル不要のリアルタイムPID調整：STM32 USB-CLIの実装
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最終回：Cubliは大地に立ったのか？筐体組立と「土下座」のグランドフィナーレ
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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 (LQFP64) における高密度ピン配置戦略とモータ駆動回路の設計【Day 9】 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：FOCのノイズに勝つ！電源設計とアナログフロントエンドの実装【Day 10】 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 Sim-to-Real実装：PyTorchで学習した強化学習モデルをONNX経由でSTM32にデプロイする 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 FOC（ベクトル制御）理論詳解：3相モータを数学で「DCモータ化」する技術 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 姿勢推定アルゴリズム実装：STM32単体で検証する「Madgwickフィルタ」の性能 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 FOC実装編(1)：STM32タイマーで「SVPWM（空間ベクトル変調）」波形を生成する 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 Day 15: FOC実装編(2) 電流センシング（触覚）の実装 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 STM32と自作ドライバで挑むFOC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 倒立振子への道：ついにFOC完遂！電流フィードバックで「電子バネ」を作る 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 高性能IMU ICM-42688を実装し、物理法則を可視化する 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 1軸簡易カルマンフィルタで「センサフュージョン」の基礎を固める 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 3次元空間を制する「拡張カルマンフィルタ(EKF)」と「クォータニオン」 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 性能評価：拡張カルマンフィルタ(EKF)とMadgwickフィルタの特性比較 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 UARTは遅すぎる！STM32G4「クリスタルレスUSB」による高速テレメトリ環境の構築と通信規格の技術比較 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 Processing × USB CDCで、Cubliの「デジタルツイン」を錬成する 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 コンパイル不要のリアルタイムPID調整：STM32 USB-CLIの実装 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 最終回：Cubliは大地に立ったのか？筐体組立と「土下座」のグランドフィナーレ 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 (LQFP64) における高密度ピン配置戦略とモータ駆動回路の設計【Day 9】
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回路設計 Part 2：FOCのノイズに勝つ！電源設計とアナログフロントエンドの実装【Day 10】
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Sim-to-Real実装：PyTorchで学習した強化学習モデルをONNX経由でSTM32にデプロイする
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FOC（ベクトル制御）理論詳解：3相モータを数学で「DCモータ化」する技術
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姿勢推定アルゴリズム実装：STM32単体で検証する「Madgwickフィルタ」の性能
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FOC実装編(1)：STM32タイマーで「SVPWM（空間ベクトル変調）」波形を生成する
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Day 15: FOC実装編(2) 電流センシング（触覚）の実装
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STM32と自作ドライバで挑むFOC実装
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倒立振子への道：ついにFOC完遂！電流フィードバックで「電子バネ」を作る
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高性能IMU ICM-42688を実装し、物理法則を可視化する
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1軸簡易カルマンフィルタで「センサフュージョン」の基礎を固める
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3次元空間を制する「拡張カルマンフィルタ(EKF)」と「クォータニオン」
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性能評価：拡張カルマンフィルタ(EKF)とMadgwickフィルタの特性比較
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UARTは遅すぎる！STM32G4「クリスタルレスUSB」による高速テレメトリ環境の構築と通信規格の技術比較
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Processing × USB CDCで、Cubliの「デジタルツイン」を錬成する
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コンパイル不要のリアルタイムPID調整：STM32 USB-CLIの実装
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最終回：Cubliは大地に立ったのか？筐体組立と「土下座」のグランドフィナーレ
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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

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