Design, Implementation, and Control of a Ball-Balancing Robot

This paper presents the design, implementation, and control of a ball-balancing robot developed for interactive applications in service and entertainment environments. The robot features a unique thin and narrow body design to facilitate future functional expansions and a customized stepped planetary gear for the actuators, improving torque and precision. A compensator incorporating an observer and full-state feedback is developed and experimentally validated, ensuring accurate and stable control of the robot. Future work will focus on enhancing the stability and control mechanisms to improve the robot’s performance in various applications.