Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Stable Ballbot with Omnidirectional Mobility

전방향 이동성을 갖는 안정한 볼봇 개발

  • Park, JaeHan (Seoul National University of Science and Technology) ;
  • Kim, SoonCheol (Seoul National University of Science and Technology) ;
  • Yi, Sooyeong (Seoul National University of Science and Technology)
  • 박재한 (서울과학기술대학교 전기정보공학과) ;
  • 김순철 (서울과학기술대학교 전기정보공학과) ;
  • 이수영 (서울과학기술대학교 전기정보공학과)
  • Received : 2012.11.24
  • Accepted : 2012.12.26
  • Published : 2013.01.01
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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.

Keywords

References

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