The Ballbot is a novel new method of locomotion. Using a unique two roller design a pneumatic ball underneath the robot can be manipulated in the X and Y direction. Much like a traditional inverted pendulum the Ballbots center of gravity is located up as high as possible, this allows the lighter bottom end to move quickly and stay underneath the CG. Using a 6-axis IMU and an Arduino our PID control loop cycles at 400Hz to keep the bot balanced. One distinct advantage of the Ballbot is its human compliance. Since its omnidirectional you simple just push the ball bot to where you want it. Our design is still a work a process but we are getting closer to a real world product everyday.

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