Ballbot

Background

This project was from the class ROB 311. The end goal was to fabricate and code a robot that can balance on top of a basket ball. The class then finishes with a competition to see who built the best robot.

In Action

Below is a quick excerpt of the robot in action. It uses the onboard IMU and encoders as inputs and a PID controller calculates the response for each motor in order to maintain balance.