A prototype of my BB8 drive using cheap servo motors and IMUs to create a control loop that would keep the dome centered on top, regardless of how the drive is moving in order to roll the ball. These servos only have simple (and very inaccurate) inbuilt position control, so getting results this stable was a challenge. The Mk2 will use Lynxmotion servos with full torque control so will hopefully produce much better results.

Music: Star Wars: Rey's Theme | EPIC CINEMATIC VERSION by Samuel Kim Music
   • Star Wars: Rey's Theme | EPIC CINEMAT...  
Original score by John Williams