Making robots move and balance has long been a challenge for the robotics industry. Recently, the Segway Human Transporter was introduced as a novel solution to this problem. The Segway is a two wheeled balancing scooter which is designed to transport humans short distances, such as throughout an urban center. However, it can only balance and move in one direction at a time. This inherently limits its functionality as a means of transportation, and the theory behind it is also limited in its application to other aspects of robotics.

The goal of this project is to create an omnidirectional drive system that is easily controllable.

We propose to expand the self balancing concept of a inverted pendulum to two dimensions of freedom. This website outlines the design and fabrication of TIPSY (Two-dimensional Inverted Pendulum Schlepping Y'all), a self balancing robot which balances itself like a Segway, but does so on a ball instead of on two wheels. Having only one point of contact with the ground allows TIPSY to not only move forwards and backwards, but side to side, or diagonally, as well. To achieve this we implemented a unique ball drive, by which a ball is driven by wheels located around its perimeter, and the motion of the ball is controlled such that it prevents TIPSY from falling over.