Introduction

Ball Balancing Robots are a special class of robot characterized by their unique physical structure and method of locomotion. Ball balancing robots use an inertial measurement unit (IMU) such as an accelerometer to balance atop a spherical ball. Using three motors controlled by a microcontroller, the robot balances by righting itself as it begins to tip over. Similarly, the robot moves by achieving a set degree of inclination and rolling the ball beneath its body. To date, the most advanced ball balancing robot belongs to Eidgenossische Technische Hochschule Zurich. Their ballbot, Rezero, was designed for performance, maneuverability, and elegance.In building upon this design, our groups goal is to design and produce a smaller scale version of the ballbot. By simplifying the design and using smaller, more efficient hardware, we intend to create a version of the ballbot that is appropriate for mass production. Our bot will be roughly one third the size of the existing models and be made entirely out of cheap, accessible materials. The assembly of our robot will also be simple enough for a novice consumer to assemble. Finally, our robot will have the potential to be used in a swarm-type atmosphere where multiple ballbots can work together to perform tasks.