Balance Ball

A spherical robot that balances and maneuvers in three degrees of freedom using three orthogonal flywheels and a omnidirectional wheel base.

3D preview converted from github.com/sytnocui/BalanceBall at 411e3fe, under Apache-2.0. View the original files from GitHub (887 KB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Moves in three rotational degrees of freedom on an omnidirectional wheel base
Performs three-axis angular velocity closed-loop control with power assist mode
Tracks and follows a three-axis target attitude using a handheld terminal
Publishes real-time three-axis attitude data over Wi-Fi for use as a game controller
Operates as a spherical version of a balancing cube using three orthogonal flywheels

This repository has no parts list Robotheca can read yet.

The creator's steps, each with its instructions.

The guide appears here as you scroll.

Guide by @sytnocui (README.md), under Apache-2.0. The English translation is by Robotheca, shared under the same license.

Notes written by Robotheca from the project's documents.

Main control board connected to IMU via SPI or I2C
Main control board connected to three FOC driver boards via CAN bus
Each FOC driver board connected to one encoder board via SPI
Each FOC driver board connected to one brushless motor via three-phase power lines
ESP8266 modules connected to main control and handheld terminal via UART
Power supplied to driver boards and main control board via cascaded power lines
Handheld terminal communicates with main robot via Wi-Fi

Difficulty: Advanced
Estimated cost: ¥1,000≈ €133 (ECB rate, 14 Oct 2026)As stated by the creator.
Buildability: 55/100Buildable with some effort
Parts: –
Tools: 3D printer, soldering iron, screwdriver set, hot glue gun

Buildable with some effort

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 411e3fe. It isn't a rating of the robot.

3D and CAD files20/20
5 printable parts (STL, 3MF), 52 CAD source files.
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation15/15
README of 6,452 characters with 13 pictures; 8 build steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: Apache-2.0; software: Apache-2.0.

Written by Robotheca from the project's documents.

Install STM32 development environment using Clion as described in referenced guide
Clone the project repository containing firmware and software code
Flash the main control board firmware using the provided Clion project
Flash the handheld terminal firmware using the provided Clion project
Connect ESP8266 modules to the boards and configure Wi-Fi settings
Power on the robot and handheld terminal, then establish Wi-Fi connection
Run the Python script on a computer to receive attitude data and emulate a game controller

Robotheca doesn't review code. Read it before running it.

Every file of the project: code, CAD, electronics, guides, at commit 411e3fe.

Questions and improvements go to the creator's repository.