Development of Stable Ballbot with Omnidirectional Mobility
Jae‐Han Park, S.K. Kim, Soo-Yeong Yi · Journal of Institute of Control Robotics and Systems · 2013
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.