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LEGO NXT BallbotRobot-App Page

Relevant Robots:
  • LEGO - Mindstorms NXT 2.0
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Robot App™ Description

Developer: Yorihisa Yamamoto

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®is a trademark of the LEGO Group of companies which does not sponsor, authorize or endorse this app. This app does not feature any of LEGO's copyrighted or trademarked material, and is in accordance with their fair use guidelines.

Installation Instructions

Delivered as:



Robot App Requirements


Control System Toolbox
Simulink Coder
Embedded Coder
Simulink 3D Animation
MATLAB 7.5 (R2007b)

Other requirements:

nxtOSEK, Cygwin, GNU ARM

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