Balancing ball robot is a robot having frame, which is positioned on the tire of ball type, and functions such as balancing and moving. By characteristics of the all directional mobility, this robot can be moved without constraint in the small area and be overcome the weakness of tire having one directional motion. Because of structurely unstable system, robust attitude control is required.
In this study, balancing ball robot, having three omni-wheels connected with three motors, control module consisted of microprocessor, motor driver, battery, and gyroscope sensor, and three rollers generating the friction force between ball and omni-wheel, is proposed. The attitude (roll and pitch angle of frame) of robot is measured by the gyroscope sensor and is controlled in the range of +-1.3 degrees by applying the PID controller.