TY - GEN
T1 - Kinematics modelling for omnidirectional rolling robot
AU - Yi, Soo Yeong
PY - 2013
Y1 - 2013
N2 - A ball-shaped mobile robot, called a ballbot, has a single point of contact with the ground. Thus, it has low energy consumption for motion because of the reduced friction. This paper presents the systematic kinematics modelling for a type of ballbot with omnidirectional motion capability. This kinematics modelling describes the velocity relationship between the driving motors and the robot body for the motion control of the robot.
AB - A ball-shaped mobile robot, called a ballbot, has a single point of contact with the ground. Thus, it has low energy consumption for motion because of the reduced friction. This paper presents the systematic kinematics modelling for a type of ballbot with omnidirectional motion capability. This kinematics modelling describes the velocity relationship between the driving motors and the robot body for the motion control of the robot.
UR - http://www.scopus.com/inward/record.url?scp=84880708517&partnerID=8YFLogxK
U2 - 10.1007/978-94-007-6738-6_93
DO - 10.1007/978-94-007-6738-6_93
M3 - Conference contribution
AN - SCOPUS:84880708517
SN - 9789400767379
T3 - Lecture Notes in Electrical Engineering
SP - 755
EP - 761
BT - Multimedia and Ubiquitous Engineering, MUE 2013
T2 - FTRA 7th International Conference on Multimedia and Ubiquitous Engineering, MUE 2013
Y2 - 9 May 2013 through 11 May 2013
ER -