Development of stable ballbot with omnidirectional mobility

Jae Han Park; Soon Cheol Kim; Sooyeong Yi

doi:10.5302/J.ICROS.2013.19.1.040

Development of stable ballbot with omnidirectional mobility

Jae Han Park, Soon Cheol Kim, Sooyeong Yi

Dept. of Electrical and Information Engineering

Seoul National University of Science and Technology (SNUST)

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

The ball-shaped mobile robot, so called ballbot has single point contact on ground and low energy consumption in motion because of the reduced friction. In this paper, a new ballbot is presented, which has omnidirectional mobile platform inside of it as a driving system. Thus the ballbat has omnidirectional mobility without nonholonomic constraints. Kinematics and inverse kinematics of the ballbat is derived also in this paper.

Original language	English
Pages (from-to)	40-44
Number of pages	5
Journal	Journal of Institute of Control, Robotics and Systems
Volume	19
Issue number	1
DOIs	https://doi.org/10.5302/J.ICROS.2013.19.1.040
State	Published - 2013

Keywords

Ballbot
Kinematics
Omnidirectional mobility
Single point contact

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10.5302/J.ICROS.2013.19.1.040

Cite this

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abstract = "The ball-shaped mobile robot, so called ballbot has single point contact on ground and low energy consumption in motion because of the reduced friction. In this paper, a new ballbot is presented, which has omnidirectional mobile platform inside of it as a driving system. Thus the ballbat has omnidirectional mobility without nonholonomic constraints. Kinematics and inverse kinematics of the ballbat is derived also in this paper.",

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KW - Single point contact

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Development of stable ballbot with omnidirectional mobility

Abstract

Keywords

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