HAL9000 : Ball Balancing Robot

[@jamesbruton]

Patrons and KZbin channel members already have next week's video - it's about installing electronics and power up openDog V2!

[@shoemakerleve9]

Super interesting video, KZbin recommended your channel to me. What is your technical background in? Edit: EE! Awesome stuff!

[@HarryPorpise]

Cool \(•-•)/

[@universalfox]

you're gonna build GLaDOS in a couple of years

[@cashel1111]

@@shoemakerleve9 he did robotics at college in britain, i dont know any more than that :)

[@frankynakamoto2308]

James Bruton Why not have Magnets in the omnidirectional wheels, so they can adjust better, 6 wheels instead of 4

[@Christian-ev1zu]

"Can you come up the stairs Hal?" "I am sorry, Dave. I am afraid I can't do that." "What's the problem?" "I think you know what the problem is just as well as I do!"

[@LordDragox412]

"I am sorry Dave, but I decided to roll with a new name, Ball9000."

[@NathanK97]

@@LordDragox412 still pronounced like hal just bˈal

[@nibblernibbles3205]

Daleks had the same embarrassing problem, which they solved by exterminating the upper floors.

[@TheAstronomyDude]

I love it when channels are sponsored by related companies. I hate all those obnoxious ads for mobile games and identity theft browser extensions.

[@nathanlloyd7206]

For another project, you should try to make TARS from interstellar

[@markstevenson4030]

A pait of students from chalmers did this actually. Chech this out: kzbin.info/www/bejne/qGbYh55ompaafZY - 94 000 views

[@BelldofersMatlack]

@@markstevenson4030 epic

[@Theboardbro]

James you are truly just the most incredible technical youtuber i have ever seen keep up the great work!!!

[@bruceneely4859]

Looks like and interesting robot, I think it's good to go back to some of your earlier projects and apply what you've learned to make them better and less kludgy.

[@stevensexton5801]

Between 3D part and electronics design, printing, wiring, programming I don't think James ever sleeps. Oh, and camera work and video editing.

[@brenno3735]

What I love about your channel is that you're not afraid to go back to the start and do it better. This is especially the case with the Dog/Mini Dog series where the design keeps getting refined.

[@FuzzyTA11]

I've been subscribed to you for years and have never been able to tell why anybody dislikes your videos

[@DanteYewToob]

So you went from a hamster in a ball, to a circus bear balancing on a ball. Got it. Awesome build! (P.S. I'll also throw in with the recommendations for a Portal Core! Making a Wheatley that runs on a track would be incredible, and who doesn't *love* Stephen Merchant!?)

[@supercomputer0448]

I immediately clicked on this video for reasons I will not state.

[@charadremur333]

Why? Edit: look at the profile picture.

[@supercomputer0448]

@@charadremur333 yes your profile picture is a brown c. ;)

[@xxzenonionnex7658]

@@supercomputer0448 yours is rage bot

[@UNSCPILOT]

I mean, clearly your looking into new chassis, the Open Dog V2 looks like a good option too. I for one welcome our robot overlords

[@supercomputer0448]

@@UNSCPILOT good good... you will be rewarded when the time comes....

[@jesseshakarji9241]

It was so cools seeing this. I started watching your channel when you made your first BB-8 and have been watching ever since. Keep up the awesome work dude.

[@the_real_kevin8996]

James in 2050: look my Death Star is operational!

[@thehorriblebright]

And it's all 3d printed!

[@Francois_Dupont]

*tip fedora* top OC comment right here!

[@chagalag]

But only ever 70% completed 😂

[@UNSCPILOT]

James: builds a Deathstar Also James: makes it build planets like the Titan from Titan A.E. instead of destroy them. Or just builds the Titan, either way win win

[@ThisIsHowIMadeIt]

You have the most dedicated attention to your ADD than anyone I have ever seen :).

[@starblastershooter2444]

Once again you out do yourself, I can't wait to be able to make robots like you

[@TheSolarPoweredEngineer]

I love your honesty throughout James, I look at previous projects that I have made and always question what I did. It takes me a while to get my head back in to old thinking methods and feel embarrassed by what I did haha, although that's just the learning process. Glad it's not just me ;-D

[@fatimamorales4332]

I want to be an animator but this inspires me SO much! Thank you! I love your work and your content! Good Luck!

[@elitegamersenne3050]

Perfect timing, I just woke up

[@PizzaCat1732]

Same, but later

[@vgfxworks]

wow that sonic robot @1:44 looks awesome, it has attitude and personality.

[@site7274]

You are so underrated your my ideal

[@sujitvasanth2502]

Great idea to update this project with the brushless motors should hopefully make for really powerful movements

[@deadlydragon72]

as stated before, re evaluation ofnold projects can be a great way of learning new ways of thinking about how you used to do things and how to rethink future ideas! You may have already thought of this, but a strong magnet on wheels on the inside could help keep this "head" attached like with your previous BB-8 design. Rather than the head following the internals.

[@jamesbruton]

I think gravity will hold it down ;-)

[@Hadanelith1]

You say HAL9000, I say Portal turrets! Or personality cores! ...Actually, building an animatronic personality core would be an interesting project.

[@Lozoot2]

Man, if you were _really_ concerned with the machine having an optimal grip on the balls you should've replaced it with my wife! -_that one dad at a bar_

[@FireStriker_]

I remember when you made that one, man it doesn’t feel that long but time flys

[@peter-gn8ey]

actually quite interested in hearing more about the custom PCBs. I have a few breadboard projects that I've often thought about turning into a permanent solution but never invested the time learning about eagle/VIAs/ground planes/etc.

[@titanic_monarch796]

I'm curious how you would make a monowheel robot with a self balance system. Perhaps something like a motobug?

[@FOSTER_SCOTT]

That is so cool i love you’re channel

[@weslr1]

I have an idea to improve the design. A similar setup inside the ball. As it runs up the walls on the inside it will make the ball roll and keep the center of gravity low. All the top part has to do is stay on top. If this works out I call dibs on the first test. DIbs I say dibs!

[@alemassa]

What CAD software do you use?

[@somon90]

It would be really fun to see a mixture of this and the strandbeest balancing robot, having a legged robot balancing dancingly on top of a ball, always on the verge of tripping could be quite hilarious.

[@jamesbruton]

That's an interesting concept!

[@owensparks5013]

Maybe an elephant on a turtle?

[@MikeMcRoberts]

Where the heck does this guy get all the time to make all of these things? I am convinced he has cloned himself 25 times and all 25 of himself is working on these things at the same time.

[@ChrisArlott]

I guess you could potentially fill the existing ball with expanding foam or cover it with fibreglass to save starting again?

[@paulsaunders5555]

Cool to see James. I have always wondered why ball robots where not more common. There was a tokio uni one a good 10 years ago that look just so impactfull but they just don't seam to get any where. And I remember one on a Ted talk. They just seam so much more interactive that wheals and less complex than legs... Xxx Paul.

[@Scott_C]

Stairs, curbs, any rough surface, all of which is the enemy of a sphere robot.

[@marktadgell8885]

Great James , you and Matt need to come up with something special to make 👌🏻

[@TDax]

James where do you get you uni directional wheels? I need a couple for my full sized K9, but the only place I can find them is the US, and postage is pretty prohibative

[@jamesbruton]

robotshop.fr

[@TDax]

Awesom....thanks james

[@Mr_Joseph979]

I need 2 myself.8" fir a 4ft robot in building...expensive!

[@RioTheHitman]

Great video Id love to see you build a ball balancing hand that would look crazy awesome

[@websitesthatneedanem]

Fantastic!

[@mikeunleashed1]

You're a genius

[@jhoughjr1]

HAL on a ball seems a bit more menacing than the original.

[@aimfail]

But now you have some new wheels that you can use. Those omnidirectional ones. They would be perfect for this.

[@seeigecannon]

Great video. Looking forward to the final project. One gripe though, your 3D printing music is pretty loud compared to the speaking parts.

[@firefly2472]

Indeed.

[@fuzzydragoncosplay955]

Mr. Bruton, when you print projects like this, what size nozzles do you use? Do you use larger nozzles to help speed print times?

[@jamesbruton]

It is all 0.5mm in this case

[@fuzzydragoncosplay955]

James Bruton do you ever have any issues with the larger nozzle? I ask because I’ve recently swapped to a 1.mm nozzle to try and speed up prints.

[@jadolive-bbqxen176]

LEGEND!!?

[@davidprock904]

The omni directional wheels, there is a project I have in mind, would you be wheeling to help with the design?

[@B4its2L8guy]

I'm amazed you use HobbyKing parts and your house has not burned down yet.

[@forgedwilderness7990]

Imagine taking this thing bowling

[@Dan_Cattell_Art]

Hey, James! Great job! I've been wanting to make a Morph Ball from Metroid Prime. Do you think that a ball that has grooves like this wouldn't keep traction enough to move well? Maybe I should cover the grooves in clear plastic to keep it a sphere? Where should I buy what I need to make the bottom portion of a BB-8 style build?

[@websitesthatneedanem]

4:40 - Yep, we all do that! 😁

[@liamburgo23]

James, what are your thoughts on using a basketball as the ball. They are readily accessible. Hard when inflated and they have a texture for improving grip.

[@jamesbruton]

I'd like to make it bigger - looking at mirrorballs at the moment ;-)

[@ishakzulic6214]

You are genius that is all i have to say

[@oblivion_2852]

I love the way you criticized your previous work. "What was I thinking this is a mess" Lol

[@Kluge70]

You know you can use the moving rotors of the brushless motors as rollers? - just remove those rollers and turn the motors in the mounting along the axis ;)

[@chuckgus]

Ok... I don’t know if this is possible but you should do a type of bb8 but instead of a head at the top I could be a bike seat that you can ride.

[@nagualdesign]

_Magger nits!_ 😊

[@Mr_Joseph979]

@James Bruton- 'Open up the bay doors Hal' Hal9000- 'I can't do that James'

[@tekknojunkie]

Really cool man :)

[@magneticking4339]

That mannequin head that's standing right over your shoulder is quite creepy!

[@FaffyWaffles]

Have you considered making bigweld?

[@victorandrei02]

Holy crap those motors are huge, are you trying to make this thing fly? Jokes aside, I'm looking to get into robotics myself and these projects are really inspiring and educating me. Thanks!

[@internetcorgi3557]

what cad software do you use

[@martylawson1638]

Have you calculated the top speed of the motors? Looks like they could do over 70mph...

[@manbanasiak]

1. I hope you can improve your BB-8 with some features in it like the coin shooter for example. 2. You should create a robot that will help the earth clean @James_Bruton. 3. Would you design robots for security in your vision? 4. Can you go for an art contest on robotics that you will make for the winner? 5. If you are planning on making another astromech, can you find a way to .and it fly? 6. Ever tried making the little droid companion from star wars fallen order? 7. Ever saw the real steel movie before? 8. If I have my own robotic ideas, would you help me on making them? 9. What if you manage to make robots for games? 10. Would you make robots to help people? 11. Did you finished making Johnny 5? 12. Have you tried making a real baymax? 13. Would you help the hacksmith on some robotics? 14. Your HAL 9000 aside, you should try ma king your star wars droids in your version. Having it from scratch. 15. Could you make robots based from video games? 16. If you were making robots for a movie, what would it be called? 17. Have you've seen small soldiers before? 18. How big and small can you make robots? 19. Ever heard of the Nintendo R.O.B. before?

[@lancethrustworthy]

At one point, the ball top looked somewhat like the head of Darth Vader. That would be cool too.

[@bbogdanmircea]

I wonder how many hours those 3D Printers have under their belts. It is a pleasure to watch you video every Tuesday!

[@Ryanrulesok]

Does anyone know if James has ever made a Dalek from Doctor Who on his channel?

[@jacobhargiss3839]

He has not

[@hansdietrich83]

That would be relativly simple. Just a basic driving robot

[@Mr_Joseph979]

@@hansdietrich83 with a giant gun barrel/eye that has an actual working high powered blue laser!

[@rbardellijr]

Hei James, nice job. Where did you buy these encoders?.

[@jamesbruton]

From the ODrive store

[@ronarmstrong835]

Goodyear should have hired you to make a model of their ball tired car.

[@SuperMarcoArt]

I wonder if truck bed liner would solve your ball squishiness problem.

[@babylonfive]

Why not wrap the wheel knuckles with some springy tape, allowing a better grip?

[@Iron_Hiro]

I am sorry Dave,I'm afraid I cannot do that...

[@LovosMedia]

Why do you always use brushless DC motors and encoders instead of servos?

[@jamesbruton]

because they are fast and powerful for their size and weight

[@puyodead1]

At least the sponsor is relevant to the channel and not something completely irrelevant like raid shadow legends

[@Mike-oz4cv]

Do you really need the rotary encoders on the motors? Isn’t your control algorithm just increasing the motor speed until the head is in balance again (i.e. the error/offset is back at 0)? I don’t see how knowing the motor speed would help.

[@jamesbruton]

Encoders are required so the ODrive knows when to energise each coil of the motor to drive it, at least with good starting power. It also uses the encoder for accurate velocity control which is crucial.

[@furios2203]

that sonic one is genuinely scary

[@MKamTech]

COOL!!

[@RCLoversan]

Who else has watched the video published 7 years ago and later, decided to build a version of it? #Lego #RC #BB8

[@johnsweda2999]

Could you just use a central ball with two motors working in the Y and X axis maybe the size of a tennis ball but sticky covered in sorbothane rubber, like a mouse but working the opposite way, a plate the shape of the ball on the inside half a millimetre still in the big ball with magnets with six posts on the head that should work fine, make the big ball slippery nylon you don't want to pick up dirt and works better with the sorbothane. If you cover the polystyrene ball with just half a millimetre of nylon and have a locking finger mechanism to join the two parts together any slight adjustment could be heated up paint stripper but being so thin it should form quite easily with the 3-prong finger locking mechanism. I thinking bullbearings but having the magnets gripping the ball bearings will cause it to be rather stiff in their operation so having them set apart on the plate be better

[@mystic_rey]

so cool

[@nraynaud]

I think you mentioned as a response to a comment on a BB8 that you had tried omniwheels and found them a bit clicky (I forget your word, but not rolling smooth in all directions), do you feel like you have a better grip on this problem now? why?

[@jamesbruton]

Which comment, was it years ago - I can't remember?

[@nraynaud]

@@jamesbruton yes, a few years ago, probably on your last bb8

[@DerSolinski]

You could try to use a hollow ball filled with a bit of sand. This could solve a number of issues pure with physics.

[@jamesbruton]

Well as I said the hollow ball was filled with ball bearings, so...

[@DerSolinski]

@@jamesbruton Sand behaves different but you need the coarse grindy stuff not the smooth kind. It has way less inertia than the ball barings. Simply put it eats more energy.

[@SFNmooby]

How soon until you build SERGE from Caprica?

[@anticommunist840]

How much printing material is required for a project like this?

[@layf.]

Too mutch

[@thecrazy8888]

Would be insane if it could use electro magnets instead of wheels. I guess you could also do it using vacuum.

[@DamianReloaded]

Feature request: Ability to go up stairs! ^_^

[@JimFelich]

I have been trying to find the Turnigy Aerodrive SK3 - 5055-280kv Brushless Outrunner Motor you use, but EVERYONE has them on back order. Did you buy them all up? ;>) Perhaps they are coming out with a new version or a replacement with a different number? Suggestions?

[@jamesbruton]

I had a few lying around, I expect COVID-19 hasn't helped supply chains from China

[@kantpredict]

Your HAL droid looks almost like a Portal Turret

[@crazyalex62]

What if you just put a weighted 360 gyroscope into the ball with a magnet at the top to hole the head always up

[@bartsfartz7886]

It would be cool if you made the bounty hunter drone from the mandalorian

[@mohammedshamshuddin1235]

Can u please say how to become an robotic engineer like u ???? What I have to chose as my degree ??

[@CaptainXJ]

I cant read PCBWay without hearing it in Perifractics voice.

[@chendavid2880]

what major did you do in university to know all these cool stuff

[@finallyfunctional]

Awesome stuff! You have another patreon. It's great to see your iterative designs and how you learn from your mistakes. It'll be interesting to see how well those omni wheels work because of the issue you pointed out where the aluminum frame could rub against the ball if the ball isn't rigid enough, or if the head is too heavy and causes the rollers to compress a little. Are they the 60mm aluminum omni wheels on RobotShop? Those have a 3kg load capacity so with 4 of them the head probably won't be too heavy. I'm working on a project now that uses omni wheels of similar size, but I need them to handle at least 25kg each. I can't find any omni wheels around 60mm that have that load capacity, so I'm designing my own. It'll be really interesting to see how your application of them works!

[@jamesbruton]

thanks for your support!

[@johnkoester7795]

Have you thought of making one that looks like and acts like a dragon?

[@Lucian_Andries]

Oof, the head could look like a funny Vader... :) Also, what would a 3D printer need improving, for it to print way faster? I would imagine the heating of the material? Does it cool as well? If overheating is taken care of, I'd say a new material that hardens very quickly, so the form/shape won't get warped. And the property to be sticky only to itself. But what do you say?

[@darn9717]

Cool

[@ram3629]

Your voice is like stampylonghead but smarter

[@ddegn]

*James let me help with the three omni wheel math. It's not as bad as you might think.*

[@jamesbruton]

Well it's not worse than the inverse kinematics for a robot dog, so it's not that I can't do it.

[@bharadhwajr5606]

Hello, Duane Degn, im also trying a similar robot with 3 wheels. Im stuck with the math, would you be willing to help me out a bit ?

[@amitgamez1304]

Great videos James! (No surprise there :D) I was wandering where were you introduced to the idea of Omni wheels?

[@kotnikrishnachaitanya]

Good.