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HAL9000 : Ball Balancing Robot 

James Bruton
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Get your first 10 PCBs for free at www.pcbway.com/
I always wanted to revisit my first BB-8 project, which had the head actually balancing on the ball. I think I can do a much better mechanical and electronic design now since I've built many balancing robots in the meantime. I decided to theme this one as HAL9000 from 2001 A Space Odyssey.
I'm using four 280kv 5055 Brushless motors to drive the robot. These will eventually be driven by a pair of ODrives and a Teensy 4.1.
You can support me on Patreon or buy my Merchandise:
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Patreon: / xrobots
Merchandise: teespring.com/stores/james-br...
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Affiliate links - I will get some money of you use them to sign up or buy something:
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Matterhackers 3D printing supplies: www.matterhackers.com?aff=7500
Music for your RU-vid videos: share.epidemicsound.com/xrobots
Amazon US: www.amazon.com/?tag=xrobotsuk-20
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Other socials:
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Instagram: / xrobotsuk
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CAD and Code for my projects: github.com/XRobots
Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon.
HARDWARE/SOFTWARE
Below you can also find a lot of the typical tools, equipment and supplies used in my projects:
Lulzbot 3D Printers: bit.ly/2Sj6nil
Lincoln Electric Welder: bit.ly/2Rqhqos
CNC Router: bit.ly/2QdsNjt
Ryobi Tools: bit.ly/2RhArcD
Axminster Micro Lathe: bit.ly/2Sj6eeN
3D Printer Filament: bit.ly/2PdcdUu
Soldering Iron: bit.ly/2DrNWDR
Vectric CNC Software: bit.ly/2zxpZqv
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: / 287089964833488
XROBOTS
Former toy designer, current RU-vid maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.

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14 июн 2020

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Комментарии : 248   
@jamesbruton
@jamesbruton 4 года назад
Patrons and RU-vid channel members already have next week's video - it's about installing electronics and power up openDog V2!
@shoemakerleve9
@shoemakerleve9 4 года назад
Super interesting video, RU-vid recommended your channel to me. What is your technical background in? Edit: EE! Awesome stuff!
@HarryPorpise
@HarryPorpise 4 года назад
Cool \(•-•)/
@universalfox
@universalfox 4 года назад
you're gonna build GLaDOS in a couple of years
@cashel1111
@cashel1111 4 года назад
@@shoemakerleve9 he did robotics at college in britain, i dont know any more than that :)
@frankynakamoto2308
@frankynakamoto2308 4 года назад
James Bruton Why not have Magnets in the omnidirectional wheels, so they can adjust better, 6 wheels instead of 4
@Christian-ev1zu
@Christian-ev1zu 4 года назад
"Can you come up the stairs Hal?" "I am sorry, Dave. I am afraid I can't do that." "What's the problem?" "I think you know what the problem is just as well as I do!"
@LordDragox412
@LordDragox412 4 года назад
"I am sorry Dave, but I decided to roll with a new name, Ball9000."
@NathanK97
@NathanK97 4 года назад
@@LordDragox412 still pronounced like hal just bˈal
@nibblernibbles3205
@nibblernibbles3205 4 года назад
Daleks had the same embarrassing problem, which they solved by exterminating the upper floors.
@nathanlloyd7206
@nathanlloyd7206 4 года назад
For another project, you should try to make TARS from interstellar
@markstevenson4030
@markstevenson4030 4 года назад
A pait of students from chalmers did this actually. Chech this out: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-r5uVk2e1gG4.html - 94 000 views
@BelldofersMatlack
@BelldofersMatlack 2 года назад
@@markstevenson4030 epic
@TheAstronomyDude
@TheAstronomyDude 4 года назад
I love it when channels are sponsored by related companies. I hate all those obnoxious ads for mobile games and identity theft browser extensions.
@bruceneely4859
@bruceneely4859 4 года назад
Looks like and interesting robot, I think it's good to go back to some of your earlier projects and apply what you've learned to make them better and less kludgy.
@Theboardbro
@Theboardbro 4 года назад
James you are truly just the most incredible technical youtuber i have ever seen keep up the great work!!!
@stevensexton5801
@stevensexton5801 4 года назад
Between 3D part and electronics design, printing, wiring, programming I don't think James ever sleeps. Oh, and camera work and video editing.
@SuicideNeil
@SuicideNeil 4 года назад
Hmm, seeing this makes me want to see an animatronic Core from Portal- bonus points if it has a rail it can move along.
@elimcgamerguy
@elimcgamerguy 4 года назад
A *disconnectable* rail it can move along! you've gotta get the management rail right!
@brenno3735
@brenno3735 4 года назад
What I love about your channel is that you're not afraid to go back to the start and do it better. This is especially the case with the Dog/Mini Dog series where the design keeps getting refined.
@DanteYewToob
@DanteYewToob 3 года назад
So you went from a hamster in a ball, to a circus bear balancing on a ball. Got it. Awesome build! (P.S. I'll also throw in with the recommendations for a Portal Core! Making a Wheatley that runs on a track would be incredible, and who doesn't *love* Stephen Merchant!?)
@supercomputer0448
@supercomputer0448 4 года назад
I immediately clicked on this video for reasons I will not state.
@charadremur333
@charadremur333 4 года назад
Why? Edit: look at the profile picture.
@supercomputer0448
@supercomputer0448 4 года назад
@@charadremur333 yes your profile picture is a brown c. ;)
@xxzenonionnex7658
@xxzenonionnex7658 4 года назад
@@supercomputer0448 yours is rage bot
@UNSCPILOT
@UNSCPILOT 3 года назад
I mean, clearly your looking into new chassis, the Open Dog V2 looks like a good option too. I for one welcome our robot overlords
@supercomputer0448
@supercomputer0448 3 года назад
@@UNSCPILOT good good... you will be rewarded when the time comes....
@jesseshakarji9241
@jesseshakarji9241 4 года назад
It was so cools seeing this. I started watching your channel when you made your first BB-8 and have been watching ever since. Keep up the awesome work dude.
@ThisIsHowIMadeIt
@ThisIsHowIMadeIt 4 года назад
You have the most dedicated attention to your ADD than anyone I have ever seen :).
@FuzzyTA11
@FuzzyTA11 4 года назад
I've been subscribed to you for years and have never been able to tell why anybody dislikes your videos
@Dev255
@Dev255 4 года назад
I love your honesty throughout James, I look at previous projects that I have made and always question what I did. It takes me a while to get my head back in to old thinking methods and feel embarrassed by what I did haha, although that's just the learning process. Glad it's not just me ;-D
@the_real_kevin8996
@the_real_kevin8996 4 года назад
James in 2050: look my Death Star is operational!
@thehorriblebright
@thehorriblebright 4 года назад
And it's all 3d printed!
@Francois_Dupont
@Francois_Dupont 4 года назад
*tip fedora* top OC comment right here!
@chagalag
@chagalag 4 года назад
But only ever 70% completed 😂
@UNSCPILOT
@UNSCPILOT 3 года назад
James: builds a Deathstar Also James: makes it build planets like the Titan from Titan A.E. instead of destroy them. Or just builds the Titan, either way win win
@starblastershooter2444
@starblastershooter2444 4 года назад
Once again you out do yourself, I can't wait to be able to make robots like you
@Hadanelith1
@Hadanelith1 4 года назад
You say HAL9000, I say Portal turrets! Or personality cores! ...Actually, building an animatronic personality core would be an interesting project.
@sujitvasanth2502
@sujitvasanth2502 4 года назад
Great idea to update this project with the brushless motors should hopefully make for really powerful movements
@fatimamorales4332
@fatimamorales4332 4 года назад
I want to be an animator but this inspires me SO much! Thank you! I love your work and your content! Good Luck!
@vgfxworks
@vgfxworks 4 года назад
wow that sonic robot @1:44 looks awesome, it has attitude and personality.
@FOSTER_SCOTT
@FOSTER_SCOTT 4 года назад
That is so cool i love you’re channel
@peter-gn8ey
@peter-gn8ey 4 года назад
actually quite interested in hearing more about the custom PCBs. I have a few breadboard projects that I've often thought about turning into a permanent solution but never invested the time learning about eagle/VIAs/ground planes/etc.
@FireStriker_
@FireStriker_ 4 года назад
I remember when you made that one, man it doesn’t feel that long but time flys
@elitegamersenne3050
@elitegamersenne3050 4 года назад
Perfect timing, I just woke up
@PizzaCat1732
@PizzaCat1732 4 года назад
Same, but later
@RioTheHitman
@RioTheHitman 4 года назад
Great video Id love to see you build a ball balancing hand that would look crazy awesome
@Lozoot2
@Lozoot2 4 года назад
Man, if you were _really_ concerned with the machine having an optimal grip on the balls you should've replaced it with my wife! -_that one dad at a bar_
@deadlydragon72
@deadlydragon72 4 года назад
as stated before, re evaluation ofnold projects can be a great way of learning new ways of thinking about how you used to do things and how to rethink future ideas! You may have already thought of this, but a strong magnet on wheels on the inside could help keep this "head" attached like with your previous BB-8 design. Rather than the head following the internals.
@jamesbruton
@jamesbruton 4 года назад
I think gravity will hold it down ;-)
@websitesthatneedanem
@websitesthatneedanem 4 года назад
Fantastic!
@tekknojunkie
@tekknojunkie 3 года назад
Really cool man :)
@MikeMcRoberts
@MikeMcRoberts 4 года назад
Where the heck does this guy get all the time to make all of these things? I am convinced he has cloned himself 25 times and all 25 of himself is working on these things at the same time.
@seeigecannon
@seeigecannon 4 года назад
Great video. Looking forward to the final project. One gripe though, your 3D printing music is pretty loud compared to the speaking parts.
@firefly2472
@firefly2472 4 года назад
Indeed.
@site7274
@site7274 4 года назад
You are so underrated your my ideal
@MKamTech
@MKamTech 4 года назад
COOL!!
@Dan_Cattell_Art
@Dan_Cattell_Art 4 года назад
Hey, James! Great job! I've been wanting to make a Morph Ball from Metroid Prime. Do you think that a ball that has grooves like this wouldn't keep traction enough to move well? Maybe I should cover the grooves in clear plastic to keep it a sphere? Where should I buy what I need to make the bottom portion of a BB-8 style build?
@nagualdesign
@nagualdesign 4 года назад
_Magger nits!_ 😊
@weslr1
@weslr1 4 года назад
I have an idea to improve the design. A similar setup inside the ball. As it runs up the walls on the inside it will make the ball roll and keep the center of gravity low. All the top part has to do is stay on top. If this works out I call dibs on the first test. DIbs I say dibs!
@bbogdanmircea
@bbogdanmircea 4 года назад
I wonder how many hours those 3D Printers have under their belts. It is a pleasure to watch you video every Tuesday!
@paulsaunders5555
@paulsaunders5555 4 года назад
Cool to see James. I have always wondered why ball robots where not more common. There was a tokio uni one a good 10 years ago that look just so impactfull but they just don't seam to get any where. And I remember one on a Ted talk. They just seam so much more interactive that wheals and less complex than legs... Xxx Paul.
@Scott_C
@Scott_C 4 года назад
Stairs, curbs, any rough surface, all of which is the enemy of a sphere robot.
@mystic_rey
@mystic_rey 4 года назад
so cool
@mikeunleashed1
@mikeunleashed1 4 года назад
You're a genius
@magneticking4339
@magneticking4339 4 года назад
That mannequin head that's standing right over your shoulder is quite creepy!
@jhoughjr1
@jhoughjr1 4 года назад
HAL on a ball seems a bit more menacing than the original.
@Iron_Hiro
@Iron_Hiro 4 года назад
I am sorry Dave,I'm afraid I cannot do that...
@jadolive-bbqxen176
@jadolive-bbqxen176 4 года назад
LEGEND!!?
@marktadgell8885
@marktadgell8885 4 года назад
Great James , you and Matt need to come up with something special to make 👌🏻
@finallyfunctional
@finallyfunctional 4 года назад
Awesome stuff! You have another patreon. It's great to see your iterative designs and how you learn from your mistakes. It'll be interesting to see how well those omni wheels work because of the issue you pointed out where the aluminum frame could rub against the ball if the ball isn't rigid enough, or if the head is too heavy and causes the rollers to compress a little. Are they the 60mm aluminum omni wheels on RobotShop? Those have a 3kg load capacity so with 4 of them the head probably won't be too heavy. I'm working on a project now that uses omni wheels of similar size, but I need them to handle at least 25kg each. I can't find any omni wheels around 60mm that have that load capacity, so I'm designing my own. It'll be really interesting to see how your application of them works!
@jamesbruton
@jamesbruton 4 года назад
thanks for your support!
@titanic_monarch796
@titanic_monarch796 4 года назад
I'm curious how you would make a monowheel robot with a self balance system. Perhaps something like a motobug?
@forgedwilderness7990
@forgedwilderness7990 4 года назад
Imagine taking this thing bowling
@furios2203
@furios2203 4 года назад
that sonic one is genuinely scary
@victorandrei02
@victorandrei02 3 года назад
Holy crap those motors are huge, are you trying to make this thing fly? Jokes aside, I'm looking to get into robotics myself and these projects are really inspiring and educating me. Thanks!
@ronarmstrong835
@ronarmstrong835 Год назад
Goodyear should have hired you to make a model of their ball tired car.
@oblivion_2852
@oblivion_2852 4 года назад
I love the way you criticized your previous work. "What was I thinking this is a mess" Lol
@aimfail
@aimfail 3 года назад
But now you have some new wheels that you can use. Those omnidirectional ones. They would be perfect for this.
@somon90
@somon90 4 года назад
It would be really fun to see a mixture of this and the strandbeest balancing robot, having a legged robot balancing dancingly on top of a ball, always on the verge of tripping could be quite hilarious.
@jamesbruton
@jamesbruton 4 года назад
That's an interesting concept!
@owensparks5013
@owensparks5013 4 года назад
Maybe an elephant on a turtle?
@B4its2L8guy
@B4its2L8guy 4 года назад
I'm amazed you use HobbyKing parts and your house has not burned down yet.
@amitgamez1304
@amitgamez1304 4 года назад
Great videos James! (No surprise there :D) I was wandering where were you introduced to the idea of Omni wheels?
@websitesthatneedanem
@websitesthatneedanem 4 года назад
4:40 - Yep, we all do that! 😁
@ChrisArlott
@ChrisArlott 4 года назад
I guess you could potentially fill the existing ball with expanding foam or cover it with fibreglass to save starting again?
@RCLoversan
@RCLoversan 4 года назад
Who else has watched the video published 7 years ago and later, decided to build a version of it? #Lego #RC #BB8
@Kluge70
@Kluge70 2 года назад
You know you can use the moving rotors of the brushless motors as rollers? - just remove those rollers and turn the motors in the mounting along the axis ;)
@kantpredict
@kantpredict 4 года назад
Your HAL droid looks almost like a Portal Turret
@DamianReloaded
@DamianReloaded 4 года назад
Feature request: Ability to go up stairs! ^_^
@ishakzulic6214
@ishakzulic6214 4 года назад
You are genius that is all i have to say
@Mr_Joseph979
@Mr_Joseph979 4 года назад
@James Bruton- 'Open up the bay doors Hal' Hal9000- 'I can't do that James'
@manbanasiak
@manbanasiak 4 года назад
1. I hope you can improve your BB-8 with some features in it like the coin shooter for example. 2. You should create a robot that will help the earth clean @James_Bruton. 3. Would you design robots for security in your vision? 4. Can you go for an art contest on robotics that you will make for the winner? 5. If you are planning on making another astromech, can you find a way to .and it fly? 6. Ever tried making the little droid companion from star wars fallen order? 7. Ever saw the real steel movie before? 8. If I have my own robotic ideas, would you help me on making them? 9. What if you manage to make robots for games? 10. Would you make robots to help people? 11. Did you finished making Johnny 5? 12. Have you tried making a real baymax? 13. Would you help the hacksmith on some robotics? 14. Your HAL 9000 aside, you should try ma king your star wars droids in your version. Having it from scratch. 15. Could you make robots based from video games? 16. If you were making robots for a movie, what would it be called? 17. Have you've seen small soldiers before? 18. How big and small can you make robots? 19. Ever heard of the Nintendo R.O.B. before?
@EpicallyAverageDude
@EpicallyAverageDude 4 года назад
I
@darn9717
@darn9717 4 года назад
Cool
@thecrazy8888
@thecrazy8888 4 года назад
Would be insane if it could use electro magnets instead of wheels. I guess you could also do it using vacuum.
@kotnikrishnachaitanya
@kotnikrishnachaitanya 4 года назад
Good.
@chuckgus
@chuckgus 4 года назад
Ok... I don’t know if this is possible but you should do a type of bb8 but instead of a head at the top I could be a bike seat that you can ride.
@DerSolinski
@DerSolinski 4 года назад
You could try to use a hollow ball filled with a bit of sand. This could solve a number of issues pure with physics.
@jamesbruton
@jamesbruton 4 года назад
Well as I said the hollow ball was filled with ball bearings, so...
@DerSolinski
@DerSolinski 4 года назад
@@jamesbruton Sand behaves different but you need the coarse grindy stuff not the smooth kind. It has way less inertia than the ball barings. Simply put it eats more energy.
@TDax
@TDax 4 года назад
James where do you get you uni directional wheels? I need a couple for my full sized K9, but the only place I can find them is the US, and postage is pretty prohibative
@jamesbruton
@jamesbruton 4 года назад
robotshop.fr
@TDax
@TDax 4 года назад
Awesom....thanks james
@Mr_Joseph979
@Mr_Joseph979 4 года назад
I need 2 myself.8" fir a 4ft robot in building...expensive!
@lancethrustworthy
@lancethrustworthy 4 года назад
At one point, the ball top looked somewhat like the head of Darth Vader. That would be cool too.
@bartsfartz7886
@bartsfartz7886 4 года назад
It would be cool if you made the bounty hunter drone from the mandalorian
@ram3629
@ram3629 4 года назад
Your voice is like stampylonghead but smarter
@Lucian_Andries
@Lucian_Andries 4 года назад
Oof, the head could look like a funny Vader... :) Also, what would a 3D printer need improving, for it to print way faster? I would imagine the heating of the material? Does it cool as well? If overheating is taken care of, I'd say a new material that hardens very quickly, so the form/shape won't get warped. And the property to be sticky only to itself. But what do you say?
@FaffyWaffles
@FaffyWaffles Год назад
Have you considered making bigweld?
@johnsweda2999
@johnsweda2999 4 года назад
Could you just use a central ball with two motors working in the Y and X axis maybe the size of a tennis ball but sticky covered in sorbothane rubber, like a mouse but working the opposite way, a plate the shape of the ball on the inside half a millimetre still in the big ball with magnets with six posts on the head that should work fine, make the big ball slippery nylon you don't want to pick up dirt and works better with the sorbothane. If you cover the polystyrene ball with just half a millimetre of nylon and have a locking finger mechanism to join the two parts together any slight adjustment could be heated up paint stripper but being so thin it should form quite easily with the 3-prong finger locking mechanism. I thinking bullbearings but having the magnets gripping the ball bearings will cause it to be rather stiff in their operation so having them set apart on the plate be better
@liamburgess3385
@liamburgess3385 4 года назад
James, what are your thoughts on using a basketball as the ball. They are readily accessible. Hard when inflated and they have a texture for improving grip.
@jamesbruton
@jamesbruton 4 года назад
I'd like to make it bigger - looking at mirrorballs at the moment ;-)
@CaptainXJ
@CaptainXJ 4 года назад
I cant read PCBWay without hearing it in Perifractics voice.
@davidprock904
@davidprock904 3 года назад
The omni directional wheels, there is a project I have in mind, would you be wheeling to help with the design?
@alemassa
@alemassa 4 года назад
What CAD software do you use?
@SuperMarcoArt
@SuperMarcoArt 4 года назад
I wonder if truck bed liner would solve your ball squishiness problem.
@fuzzydragoncosplay955
@fuzzydragoncosplay955 4 года назад
Mr. Bruton, when you print projects like this, what size nozzles do you use? Do you use larger nozzles to help speed print times?
@jamesbruton
@jamesbruton 4 года назад
It is all 0.5mm in this case
@fuzzydragoncosplay955
@fuzzydragoncosplay955 4 года назад
James Bruton do you ever have any issues with the larger nozzle? I ask because I’ve recently swapped to a 1.mm nozzle to try and speed up prints.
@ddegn
@ddegn 4 года назад
*James let me help with the three omni wheel math. It's not as bad as you might think.*
@jamesbruton
@jamesbruton 4 года назад
Well it's not worse than the inverse kinematics for a robot dog, so it's not that I can't do it.
@bharadhwajr5606
@bharadhwajr5606 4 года назад
Hello, Duane Degn, im also trying a similar robot with 3 wheels. Im stuck with the math, would you be willing to help me out a bit ?
@rbardellijr
@rbardellijr 4 года назад
Hei James, nice job. Where did you buy these encoders?.
@jamesbruton
@jamesbruton 4 года назад
From the ODrive store
@chendavid2880
@chendavid2880 4 года назад
what major did you do in university to know all these cool stuff
@martylawson1638
@martylawson1638 4 года назад
Have you calculated the top speed of the motors? Looks like they could do over 70mph...
@TacoMaster3211
@TacoMaster3211 4 года назад
Hey James, have you ever though of doing a crab/spider like robot. The legs on the strandbeest reminded me on crab or spider legs.
@sorak185
@sorak185 4 года назад
BALL9000
@Ryanrulesok
@Ryanrulesok 4 года назад
Does anyone know if James has ever made a Dalek from Doctor Who on his channel?
@jacobhargiss3839
@jacobhargiss3839 4 года назад
He has not
@hansdietrich83
@hansdietrich83 4 года назад
That would be relativly simple. Just a basic driving robot
@Mr_Joseph979
@Mr_Joseph979 4 года назад
@@hansdietrich83 with a giant gun barrel/eye that has an actual working high powered blue laser!
@FinlayT-C
@FinlayT-C 4 года назад
Amazing work. You should really do another star wars project, like a b1 battle droid or tx tactical droid. Roger-Roger. [|:[)
@alon9591
@alon9591 4 года назад
Man just put an X drive on a ball but I'm a very interesting way lol
@roryt98
@roryt98 4 года назад
You say former toy desiner, what sort of toys did he design to gain these skills and for who?
@hungnguyen-yn1io
@hungnguyen-yn1io 4 года назад
My from to viet nam.I see you is passion create robot
@juliushuck
@juliushuck 4 года назад
* I'm from Vietnam. I see that your passion is creating robots. And yes it seems like he is doing nothing but building robots
@internetcorgi3557
@internetcorgi3557 4 года назад
what cad software do you use
@blobbyflobby6752
@blobbyflobby6752 4 года назад
Reminds me of Lord Buckethead
@JimFelich
@JimFelich 4 года назад
I have been trying to find the Turnigy Aerodrive SK3 - 5055-280kv Brushless Outrunner Motor you use, but EVERYONE has them on back order. Did you buy them all up? ;>) Perhaps they are coming out with a new version or a replacement with a different number? Suggestions?
@jamesbruton
@jamesbruton 4 года назад
I had a few lying around, I expect COVID-19 hasn't helped supply chains from China
@crazyalex62
@crazyalex62 4 года назад
What if you just put a weighted 360 gyroscope into the ball with a magnet at the top to hole the head always up
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