I made 1-axis attitude control module SHISEIGYO-1 before.
Then I doubled the reaction wheel and made SHISEIGYO-2 which realizes point inversion.
Here, I made a one-wheel balancing robot using SHISEIGYO-2.Sphere wheel
I have devised a mechanism that moves independently by making gear grooves in each hemisphere.
Output with a 3D printer.
Turn each with two 360 ° rotation servos.Control with Blynk.Constitution
3 cell LiPo battery was used as the power source.
The reaction wheel is driven by a brushless motor.