Optimal Control and Trajectory Tracking for the Ballbot (Nagarajan et al. 2014)
Firmware for self balancing ballbot
Control Architecture Implementation and Analysis for the Ballbot - an omni-directional mobile robot
Open-source ESP32 Self-Balancing Ball Robot | Firmware, Hardware, PCBA & Research
2020 thesis ballbot, rebuilt with 2026 tools: Python dynamics + LQR today, MuJoCo + learned policies next. Classical control vs RL on the same robot.
Master thesis — Control of a Ball-Balancing Robot (Aalborg University, 2020): quaternion dynamics, unscented Kalman filters, nonlinear feedback linearization. MATLAB/Simulink + firmware/ROS patches.
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