The ballbot: An omnidirectional balancing mobile robot

Abstract

Abstract-The ballbot is a human-sized dynamically stable mobile robot that balances on a single ball. Unlike statically stable mobile robots, the ballbot is tall and narrow with a high center of gravity and a small footprint. Moreover, its dynamic stability enables it to be physically interactive. These characteristics make it better suited to navigate and interact in cluttered human environments. This paper presents the evolved hardware design of the ballbot with a four-wheel inverse mouse-ball drive to actuate the ball, and a yaw drive mechanism that enables unlimited rotation about its vertical axis. The ballbot also has a triad of legs that provide static stability when powered down. This paper presents a detailed description of the ballbot's control architecture, and it presents several experimental results that demonstrate its balancing and locomotion capabilities. This paper also presents a trajectory planning algorithm that plans for body lean motions, which when tracked result in the desired rest-to-rest motions of the robot. Finally, the paper illustrates some interesting human-robot physical interaction behaviors that can be achieved as a result of the ballbot's dynamic stability.

Underactuated robotics: A review

“…Omni-directionally balanced mobile robots are also controlled by cascaded PID methods. [180][181][182] Hamza et al 183 presented the design of an optimized interval type-2 fuzzy PD controller in cascade form for rotary IP system. The proposed control strategy could be regarded as a promising strategy for controlling different unstable and nonlinear systems.…”

“…Fuzzy control Model-based fuzzy control [154][155][156][157][158][159][234][235][236] Model-free fuzzy control [160][161][162]164,[166][167][168][169][170][237][238][239] Hybrid fuzzy control [171][172][173][174] The integration of fuzzy control with other traditional control Fuzzy PID composite control [175][176][177][178][179][180][181][182][240][241][242] Sliding mode variable structure control 205, Backstepping control 186,[276][277][278][279] Adaptive fuzzy control 127,189,190,[280][281][282]…”

Design Considerations for Developing a Two-Wheeled Inverted Pendulum Robot Control System

“…역진자 로봇의 제 어 기법과 관련하여 모델 기반 비선형 제어기 설계 [7,8], 임 무 수행을 내비게이션 기법 [9], 센서의 신뢰성 향상 기법 [10] 등에 관한 연구가 수행되었다. 또한 역진자 로봇 설계와 관 련해서는 무게중심 이동이 가능한 플랫폼 [11], 휴머노이드 타 입의 밸런싱 로봇 [12], 조향부 없는 밸런싱 플랫폼 [13], 전방 향 주행이 가능한 외바퀴 로봇 [14] (a) Segway [1] (b) EN-V [2] (c) Ninebot [3] 그림 1. 이륜 역진자 개인용 주행기기의 예.…”

Kinematic Modeling for Twin Spherical Balls Robot

“…The aim is able to utilize the full potential of agility, which is a core feature of the robot. The prototype of Twin Spherical Balls Robot has been built with the goal of demonstrating the stable level of agility and capacity of such a driving force system [8]. The stepper-motors used in balancing robot are considered as essential component of all robot system as stepper motors are widely used in robotics and in the numerical control of machine tools to perform high precision positioning operations.…”