Bobble-Bot is a modern take on a classical problem in control theory. The robot represents a unique solution to the well understood problem of control of a two wheeled inverted pendulum. The source code for the robot’s balance control logic can be found here. The controller comes with a handy Gazebo simulation which was used extensively during the development of the robot. The code is being provided as open-source software in order to help others learn about feedback control and the Robot Operating System (ROS). My contributions include development of the balance controller, simulator, and CAN communication drivers for the Raspberry Pi and motor controller firmware. You can find some the technical details here in these summary slides. Contact us if you have any questions.