Beagle Board -
Cathy Wicks
Published © MIT

BB-8 Uses Omniwheels and BeagleBone® for Self-Balancing Head

Create your very own full-size Star Wars BB-8 self-balancing robot using these instructions.

AdvancedFull instructions provided16 hours1,993
BB-8 Uses Omniwheels and BeagleBone® for Self-Balancing Head

Things used in this project

Hardware components

BeagleBone Black Rev C, 4GB, Pre-installed Debian
D-Link DWA-121
Wireless N-150 Mbps USB Wi-Fi Network Adapter
10-DOF IMU Breakout, L3GD20H + LSM303 + BMP180
1.2A DC/Stepper Motor Driver Breakout Board, TB6612
170 Points Mini Breadboard
Stepper motor, NEMA-17
size 200 steps/rev 12V 350mA
5mm Aluminum Mounting Hub, RB-Nex-98
60mm Aluminum Omni Wheel, RB-Nex-75
Clear Acrylic Sheet
Nuts and Bolts
Polystyrene Balls, 50cm/20"
in 2 hollow halves
Polystyrene Balls, 30cm/11.8"
in 2 hollow halves
Acrylic Paint
To match the colors of BB-8 I mixed the following colors. For the orange it was 4:1 of Spiced Pumpkin(Americana DA310) and White. For the gray it was 1:1 of Medium Gray (FolkArt 425) and White.
Super Thick Gesso
Snoopy USB Rechargeable Backup Battery Pack, 2500 mAh
USB External Battery Pack, 2500mAh 5V/1.0A
BeagleBone Black BeagleBone Black

Hand tools and fabrication machines

Drill Bits
5/32, 3/16, 3/8"
1" hole saw
Loctite 2 Stage Plastics Bonder
3" Gesso Brush
Hex Screwdriver Set
Glue Stick
Double Sided Foam Tape


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Eric Boehlke

Posted by Cathy Wicks
Thanks to Eric Boehlke .


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