IEEE - Institute of Electrical and Electronics Engineers, Inc. - Trajectory planning and control of an underactuated dynamically stable single spherical wheeled mobile robot

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Nagarajan, U. ; Kantor, G. ; Hollis, R.L.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 3,743 - 3,748
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152624
Regular:

The ballbot is a dynamically stable mobile robot that moves on a single spherical wheel and is capable of omnidirectional movement. The ballbot is an underactuated system with nonholonomic dynamic... View More

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