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NXT Ballbot (Self-Balancing Robot On A Ball) Controller Design

version 1.0 (11.7 MB) by

NXT Ballbot Model-Based Design based on Embedded Coder Robot NXT.



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NXT Ballbot is a LEGO Mindstorms NXT version of Ballbot that is developed by Ralph Hollis at Carnegie Mellon University. The Ballbot is designed to balance itself on its single spherical wheel while traveling about. Please refer the following URL to know more detailed information about Ballbot.

This demo presents sample models and documents describe the following contents.

How to Build NXT Ballbot
Mathematical Dynamics Model of NXT Ballbot
Controller Design for Balance and Drive Control
NXT Ballbot Model Illustration
Simulation and Experimental Results

You can simulate NXT Ballbot model and generate controller program that can be executed on the NXT. Furthermore, you can watch movies of NXT Ballbot simulation and control experiment at the following URL.

This demo requires Embedded Coder Robot NXT Demo as MBD environment. You need to download it from the following URL before trying this demo.

LEGO(R) is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this demo. LEGO(R) and Mindstorms(R) are registered trademarks of The LEGO Group.

Comments and Ratings (6)

JeongMo Kim


when I run your simulation I am getting the following error. Can you tell where it might be wrong 'nxt_ballbot_sfun.bat' is not recognized as an internal or external command,
operable program or batch file

Dominic Guri


Saber (view profile)

Great model.
Works almost perfect - I've been able to create and test one in our university's robotics lab - still need some tuning, mostly because of gyro sensor offsets I guess. Anyway very spectacular one ;-).

Thank you for sharing!

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