BB8

Control algorithms (and hardware) for a self-balancing BB8 robot

The BB8 project is the result of an open-ended assignment from the Quantitative Engineering Analysis class that I took in Fall 2016. It is a self-balancing robot built on rigorous control-system analysis and custom numerical simulation, with an efficient integrated mechanical and electrical design on top.

Image1 Image1

Results

After six weeks of work, this project was an unqualified success. We completed…

  • A complete mathematical and numerical analysis of the planar system
  • Stable and reliable hardware implementing that control system
  • A numerical analysis of the nonlinear 3D system

We were invited to present our process and results at the Olin Expo VIP breakfast, and will soon be presenting to a group of Massachussets legislators, including the current Senate Majority Leader, Stan Rosenburg.

For more information, take a look at our paper and final website