IEEE - Institute of Electrical and Electronics Engineers, Inc. - State transition, balancing, station keeping, and yaw control for a dynamically stable single spherical wheel mobile robot

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Nagarajan, Umashankar ; Mampetta, Anish ; Kantor, George A. ; Hollis, Ralph 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): 998 - 1,003
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152681
Regular:

Unlike statically stable wheeled mobile robots, dynamically stable mobile robots can have higher centers of gravity, smaller bases of support and can be tall and thin resembling the shape of an... View More

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