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Last year, I have made this ball balancing robot.It can stand on a ball stable by the balance system of itself.


There is only one connect point between the robot and the ground, so it is more flexible than the traditional wheeled robot. It can move to any directions without turn. For the traditional wheeled robot when its center of gravity is too high it may fall down, but by using this robot the problem will not exist. So the application on this robot can be applied to narrow, crowded and interference environment.
And this robot can be used in many areas, such as security robot, explorer robot and entertainment robot.
This is just a platform and don’t have any practical application on it. We can add all kinds of different function on it according to the situation. For instance, you can add the applications of obstacle avoidance, localization and control by network to realize the function of the document delivery with this robot in your office.
What’s more, there are two ways to control: with the handheld wireless remote control and with the Kinect. By using the Kinect, you can control the car with your body, that’s may have a lot of fun.
The software may include: WPF programing, Kinect SDK, AForge.NET, PID algorithm, Kalman filter algorithm, AVR MCU programing and STM32 MCU programing.
The hardware may include: Gyro sensor, Accelerometer, Geomagnetic sensor, Wireless module, WIFI module, Camera, Kinect, STM32 MCU, Atmega16 MCU, Brushed DC motor (with gear box), encoder, DC motor driver, Controller power supply and motor power supply.
You can see more project here in my website.

So now let's begin to build this robot.

Step 1: Add Omni-Directional Wheel to Brushed DC Motor

In the balancing system of this robot, there are 3 Brushed DC motors. Each motor may have a bracket for connecting and a Omni-Diretional Wheel for driving the ball. 

Procedure:
1. Install the motor brackets to the Brushed DC motors.
2. Add one Omni-Directional Wheel to each of the Brushed DC motors.

Step 2: Make the Motor Bracket

To connect the DC motors to the body of the robot, I used the Aluminum profile to make 3 brackets. And then drilling several holes on them for connecting.

Procedure:
1. Cut the bracket from the Aluminum profile.
2. Cut another two as the same shape.
3. Drilling holes on the brackets for connecting.

Step 3: Add the Motors to the Acrylic Board

After making the brackets, I used the laser cutting machine to cut three pieces of acrylic discs to make the body of the robot. And then, connected them together to make the mechanical part of the robot.

Procedure:
1. Cut three pieces of acrylic discs by using the laser cutting machine.
2. Drilling holes on one of the disc and install the motor bracket on it.
3. Install another two brackets on the disc. 
4. Install the Brushed DC motors on the brackets.
5. Add the ball.
6. Install another two discs.

Step 4: Add the Electronic Modules

Add the electronic modules to the robot.

Step 5: Add Another Three Omni-Directional Wheels

By testing the robot I have built from Step 1 to Step 4, I have found that only use one Omni-Directional Wheel on each of the Brushed DC motors is not enough. So I added another one Omni-Directional Wheel one it. After that, the robot may works well.

Step 6: Made the Controller

I have made two ways to control the robot. One is using the Wireless Remote Control made by myself. And the other way is using the Kinect as the controller.
Hi can you please email me a copy of the code? Envy your skills!<br><br>Thank you
<p>Hello, I'm currently trying to develop my own BallBot and need a little help. Your project works very nice! Therefore I wanted to ask if I could look at your source code and components. I would appreciate it a lot!</p><p>Email: harris.e.jason@gmail.com</p>
<p>plz share codes with me!! hyo8199@daum.net</p>
<p>Possible to share codes with me ? bunnyppl@gmail.com</p>
Hi. Could you please send me your schematics and code?<br>Email: sasi.kalva@gmail.com
<p>Hello. We have our Robotics course and we'll do this project. The project's connections to us clearly describing the flowchart (circuit design). It's going to be when I added in the picture style circuit. Very urgent and very important. We would appreciate if you can help. Thank you.</p><p>E-MAİL: sreyhansimsek@gmail.com</p>
<p>works awesome! could you send me the schematics and codes plz?</p><p>Email: lihan555@hotmail.com</p><iframe id="tmp_downloadhelper_iframe" style="display: none;"></iframe>
<p>Hi :) I want to see your project in 3D environment very much. I would very grateful, if you share the 3D-model, schematics and codes. Thank you in advance!</p><p>E-mail: yana290495@mail.ru</p>
<p>Great work man, it would be a great help if you could send the schematics and codes.<br>Email: ahmedjunaidkhalid@outlook.com</p>
<p>Hi, </p><p>I keep reading this instructable articles, I'd like to teach our students with ballbot making project.</p><p>Could you send me materials (code and schematic ) plases.</p><p>my email.: <a href="mailto:tsjin69@gmail.com" rel="nofollow">tsjin69@gmail.com</a></p>
<p>hii </p><p>Congrats for the design. Looking forward to try it for my projects .ı see lot of man wants that but would be pleased if you can share me your schematic and source code </p><p>satogluibrahim@gmail.com</p><p>Kind regards,</p><p>SATOGLU.</p><p>Kind regards,</p>
<p>Hi,</p><p>Congrats for the design! Looking forward to try it and would be pleased if you can share me the source code:</p><p>fatihsenkul@gmail.com</p><p>Kind regards,</p><p>Fatih</p>
<p>I keep reading this article. It's time for me to build my own project. Please send me a copy of your source code and schematic. My email address is EM@QUE.COM</p><p>And if someone was successfully create a similar project please keep me posted by sending email.</p><p>Thank you.</p>
<p>I want to build this, could you please share your code with me?</p><p>email- sameeran2912@rediffmail.com</p><p>thanks :)</p>
This is such a clean build! If you're sharing your code, I'd appreciate it so much. Ashleywebb76@gmail.com Thanks!
<p>Hola, actualmente estoy tratando de desarrollar mi propia robopelota. Por lo tanto, quer&iacute;a preguntar si pod&iacute;a ver su c&oacute;digo fuente y componentes. Le agradecer&iacute;a mucho!</p><p>arturfaby@gmail.com</p>
<p>hello....the robot is amazing....I'm a teacher of high school and I want to make it with some students that are so motivated.Could send your schematic and source code to me, please?</p><p>Thank you so much</p><p>alberto.garnero@vallauri.edu</p><p>here my email: nurizzatulsofea1996@gmail.com</p>
<p>Hello,Could you please send me your code for the robot? I think I have an idea that could use this bot as it's base. Thanks -Fry nixonshead1@gmail.com</p>
<p>Hi!</p><p>Could you please send me your code for Arduino Uno? I would like to build this robot, it's amazing!</p><p>jose.sebastia.martinez@gmail.com</p>
<p>Hi sir. I'm in the ballbot project. I've done the hardware. but i've problem software. Could you send me source code, please.</p><p>my email: htbd95@gmail.com</p>
<p>helloooo....thattt robot was very cool and so amazing....i would like to try make it to....Could send your schematic and source code to me, please.!!!...</p><p>here my email: nurizzatulsofea1996@gmail.com</p>
<p>can you please send me the sourc code , schematic and the codes for the remote and the bot</p><p>Send it here shoandeepr@gmail.com</p>
<p>Hi! This is an interesting project. Can i have your schematic and source code.</p><p>My email is : yigit.ers@gmail.com</p><p>Thank you in advance :D</p>
<p>Your robot looks awesome *_*. I'm searching a lot about balancing robots and this is most functional I've found. </p><p>Could send your schematic and source code to me, please. </p><p>My email: dt4484053@gmail.com</p><p>Thank you in advance :D</p>
<p>Hi your robot is so awesome.I want to bulid one like yours.Could send your schematic and source code to me, please.</p><p>My email : water_lt007@foxmail.com</p><p>Thank you in advance ^_^</p>
<p>Hi your robot is so excellent, I want to build one Would send your schematic and source code to me?</p><p>My email : jasonwong182001@yahoo.com</p><p>Thank you in advance :D</p>
<p>Hi! Your project looks awesome. I am working on a similar project right now. Would it be possible for you to send me an email of your schematic and source code?</p><p>My email is : rachidz530i@topnet.tn</p><p>Thank you in advance :D You are a life saver!</p>
<p>Hi sir. I'm in the ballbot project for my final year now. Can i have your schematic and source code, please.<br>My email: themaxflame@gmail.com<br>Thank you in advance ^^</p>
<p>Hi! This is an interesting project. Can i have your schematic and source code.</p><p>My email is : htbd95ht@gmail.com</p><p>Thank you in advance :D</p>
<p>Hi! This is an interesting project. Can i have your schematic and source code.</p><p>My email is : lihan555@hotmail.com</p><p>Thank you in advance :D</p>
<p>Hi! This is an interesting project. I would like to know about the current status and detailed description of the project like bom, schematic and source code.</p><p>My email is : shuvo915@gmail.com</p><p>Thank you in advance :D</p>
I have a question here, why is brushed motor is used instead of brushless DC motor, stepper motor or servo?
Hi thw777, <br> <br>Because I just have the brushed motors at hand at that time, so I used them. Now we are trying to use the stepper motors to instead the brushed motors.
<p>Hi, may I request for the source code for this robot?</p>
<p>can you send me about the name of main material such as pic controller and code</p>
<p>Hello Sir .. Could u send me the source code for this robot?? My email is gorethaipriyogo@gmail.com Thanks ^^</p>
<p>I want to make ball balancing robot. but I have unskilled program ability.</p><p>Please send your ball balancing robot code.</p><p>my e-mail address is rlarudah28@naver.com</p><p>Thank you.^^ </p>
<p>Very successful !!!</p><p>Can you send me hardware models and software on mail? </p><p>hyokuni@outlook.com</p>
<p>I have mailed you at ufactory.info@gmail.com.</p><p>Please check your mail.</p><p>Thanks or contact imran.hameeed@gmail.com</p>
<p>its awesome ... can you please send me the complete project material.<br>1)the code<br>2)the things you have used</p><p>3)the schematics<br><br>here is my email: shazmirza2@gmail.com</p>
<p>Very successful !!!</p><p>Can you send me code and schematics on mail?</p><p>jurat.andrian@gmail.com</p><p>Thank you very much!</p>
<p>Hi!</p><p>Could you please send me your code for Arduino Mega 2560? I would like to build this robot, it's amazing!</p><p>georginas557@gmail.com</p>
<p>hi,</p><p>this is my project too.</p><p>could you please send me your code??????</p><p>fzarei78@yahoo.com</p><p>tanx</p>
<p>Hi I am building a ballbot too, but i have some problems with the control of my motors, can you send me your code?</p><p>dieterheinrich1510@gmail.com</p>
<p>Very successful !!!</p><p>Can you send me hardware models and software on mail? </p><p>gul.adem@outlook.com</p>
<p>Hi I was wondering how you controled the motors.</p><p>Did you control the balancing though a torque controler, and if not how else did you control the motor?</p>
<p>I was wondering if I could get the code and a list of the components for a class project? You can email me at kresszach@gmail.com</p>
<p>May I have this project code , please? I would like to try this. So great and nice,..</p><p>naylin.aboy@gmail.com</p>
<p>HI.. Can you please e-mail me the code?</p><p>and how the wires are connected?</p><p>uzairabro94@gmail.com</p>
I wants to make it for college project. Please can you send me parts list, electronic connection and code for it. My email address is rajatnegi108@gmail.com.

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