DoubleBallBalancer

The double ball balancer is a robotic system consisting of a ball with a movable internal weight, which enables it to balance on top of another (unactuated) ball.

Try out the interactive demo

The interactive demo allows controlling the robot through the keyboard in the pybullet simulation environment.

To run the scripts in the scripts folder, install python3, and then install the requirements:

python3 -m pip install -r requirements.txt

(if there are errors related to missing distributions, try upgrading pip first: python3 -m pip install --user --upgrade pip)

Then, run the interactive demo:

python3 scripts/pybullet_interactive_demo.py

Angle control demo

4 rotations of the upper ball (output of python3 scripts/example_3d.py)

Angular velocity control / error correction demo

Upper ball at an angular velocity of 1.5rad/s while correcting an initial lever arm angle of 90 degrees