Design and control of a micro ball-balancing robot (MBBR) with orthogonal midlatitude omniwheel placement

Yang, Daniel C. H.; Sihite, Eric; Friesen, Jeffrey M.; Bewley, Thomas

doi:10.1109/iros.2015.7353956

Cited by 10 publications

(3 citation statements)

References 8 publications

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“…Penggunaan omni wheel pada robot tersebut memudahkan gerakan ke segala arah secara efisien. Penelitian [6] merancang Robot Micro Ball-Balancing (MBBR) dengan keleluasaan gerak yang sangat tinggi. Modifikasi dilakukan pada desain omni wheel yang terhubung ke bola dengan menempatkannya pada posisi sekitar 20° hingga 30° dari arah utara vertikal sehingga mampu meningkatkan kekuatan antara omni wheel dan bola.…”

Section: Pendahuluanunclassified

Rancang Bangun Smart Robot Omni Wheel sebagai Permainan Edukatif dan Interaktif bagi Balita

Nur¹,

Indrabulan

2021

portk

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The purpose of this research is to produce a smart robot prototype that is able to attract toddlers' attention so that they can respond in the form of motor movements. The making of smart robots will be adjusted to the needs of toddler stimulation in the form of movement interactions approaching or away from objects so that toddlers are triggered to chase or avoid the robot. Educational games that are designed appropriately for toddlers can improve their motor development. This can occur due to stimulating activities from educational games that can stimulate the toddler's brain. Smart robots are one of the educational game technology products that apply the concept of the industrial revolution 4.0. The smart robot prototype design will use the arduino mega microcontroller. The microcontroller input is obtained from a proximity sensor that is implanted in the robot's body. The essence of the smart robot in this study is a dynamic and very flexible robot movement caused by the use of the omni wheel as a driving wheel.

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Section: Pendahuluanunclassified

Rancang Bangun Smart Robot Omni Wheel sebagai Permainan Edukatif dan Interaktif bagi Balita

Nur¹,

Indrabulan

2021

portk

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“…Furthermore, this robot is equipped with two sets of accelerometer and gyroscope (MPU-6050) that could accurately measure the robot deflection angle and angular velocity. The complementary filtering method is used to reduce the error noise that get from the sensor fusion [9].…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modeling for Twin Spherical Balls Robot

Win¹,

Win²,

San³

2018

IJSRP

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The goal is to build and stabilize a robot balancing on twin balls. The robot consists of six omni wheels in a special configuration standing on twin balls which gives it inverse pendulum dynamics. The robot is stabilized by rotating the wheels which makes it move in the xy-plane. First, the kinematics of omni wheels was investigated by studying different mounting configurations on platforms moving on the ground. The robot was built to verify and visualize the kinematics and special properties of omni wheels. The model is derived from energy equations and using Euler-Lagrange formulation. The energy equations are potential and kinetic energies. The obtained equations relate torque to Twin Spherical Balls Robot parameters.

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“…Especially, the authors of [19] filed a patent for their robotic cane design without experimental verification. The single omnidirectional wheel is more compact than the omnidirectional ball robot [20] or the three omni-wheeled cane robot [14], and significantly reduces the size of the robotic cane. Minimizing the size is important for any assist device.…”

mentioning

confidence: 99%

A Robotic Cane for Balance Maintenance Assistance

Lam

Fujimoto

2019

IEEE Trans. Ind. Inf.

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This paper proposes a robotic cane that helps users to stand and maintain their balance while standing and walking. The design is based on an inverted pendulum model, uses a smart omnidirectional wheel, and is linearized by the Lie algebra method (LAM) combined with a nonlinear disturbance observer that estimates the external force applied by the user. The hardware and mathematical model of the robotic cane are analyzed in detail. The hardware design is complete, and considers the weight and battery capacity. The performance of the controller is confirmed in three-dimensional simulations and in physical experiments. The robotic cane tolerates a large fluctuation angle from its equilibrium point. It also has a fall prevention function, which is among the most desirable functions of any walking assistance device, and responds quickly to a human force. The balance maintenance functions are as follows: self-balance, standing and walking assistance, fall prevention, and a mechatronic safety mode. In experimental measurements of the cane in use, the gyroscope sensor insignificant vibrations on the user's bodies, verifying the effectiveness of the robotic cane in daily life activities. The performance of LAM is also compared with that of the linear quadratic regulator. Index Terms-Inverted pendulum, Lie algebra method, omnidirectional wheel, robotic cane, walking assistance. I. INTRODUCTIONP OPULATIONS are aging dramatically. Especially in developed countries, where the estimated number of people aged 65 or older has escalated from 524 million in 2010 to nearly 1.5 billion in 2050 [1], health care for elderly and disabled people has become a serious problem. Walking assistance robots will play an important role in these problems.Wearable robots[2]-[9] support walking and movement, but are quite complicated and must be worn on the leg joints, which is uncomfortable for the user and risks entanglement in the apparatuses. Therefore, they are suitable only in designated rehabilitation centers, and are ineffective in daily living activities.

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Design and control of a micro ball-balancing robot (MBBR) with orthogonal midlatitude omniwheel placement

Cited by 10 publications

References 8 publications

Rancang Bangun Smart Robot Omni Wheel sebagai Permainan Edukatif dan Interaktif bagi Balita

Rancang Bangun Smart Robot Omni Wheel sebagai Permainan Edukatif dan Interaktif bagi Balita

Kinematic Modeling for Twin Spherical Balls Robot

A Robotic Cane for Balance Maintenance Assistance

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