and2
and2 is a two-dimensional balancing robot. He balances on a 10"
basketball. Picture of the basic hardware for And Two
are here.
and2 operates on the same principle as a
segway. Basically, it's an inverted pendulum. When the pendulum starts
to fall, the wheels roll underneath it and keep it upright. You do the same
motion when you balance a broomstick on your finger.
yes, I know it looks like a penis.
And Two does the same thing as a Segway, just in two dimensions.
In order to keep the sensing platform (fairly) still relative to the ball, I
needed to build a shell to allow the ball to rotate with minimal friction
underneath the platform.
Finally, I attached two motors, each along an axis of rotation of the ball,
to press against the ball and act as drive wheels.
The finished hardware for and2
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