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Nuts & Volts Magazine (October 2005)

The Ball Bot

By Mike Keesling    View In Digital Edition  


To recap, a simple description of the Ball Bot would be “a two-axis inverted pendulum.” The operative word here is simple. In its implementation, it is three belt-reduced, encoded motors driving some Omniwheels sitting on top of abasketball — with a bunch of inertial sensors and a DSP thrown in for good measure.

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