I wrote up a document that shows some of the improvements I made to the Hexbug Balancer. I also shared a few thoughts I had about its operation.Hexbug Balancer Improvements.pdf (5.3 MB)
Oops. I made reference to an inverted pyramid design. It is not a pyramid, I should have said Inverted Pendulum. My bad…
Here is a good reference for how the inverted pendulum design works:
Inverted Pendulum Design