Ballbot
// interactive demo
Move your mouse over the bot. It tracks you, leans toward your cursor, and wobbles when you move fast. Same character behavior ideas I'm building into the real Ballbot.
// overview
A self-balancing robot built on an inverted pendulum architecture, designed to exhibit character-driven social behaviors inspired by modern animatronics and entertainment robotics. The system uses a cascaded PID control loop running on an NVIDIA Jetson Orin for real-time balance, while a higher-level behavior layer orchestrates social gestures, gaze tracking, and emotional responses. I want a robot that feels alive, not just one that stays upright.
// highlights
Sub-10ms PID loop on Jetson Orin with real-time IMU fusion
ROS2 node architecture for modular sensor and actuator control
Character behavior layer with state machines for social gestures
Integration path for multimodal perception research