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http://dx.doi.org/10.5302/J.ICROS.2014.13.1975

Travel Control of a Spherical Wheeled Robot (Ball-Bot) with Mecanum Wheel  

Seo, Beomseok (Department of Electronic Engineering, Pusan National University)
Park, Jong-Eun (Department of Electronic Engineering, Pusan National University)
Park, Jee-Seol (Department of Electronic Engineering, Pusan National University)
Lee, Jangmyung (Department of Electronic Engineering, Pusan National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.7, 2014 , pp. 713-717 More about this Journal
Abstract
In this paper, the travel control of the spherical wheeled robot with a mecanum wheel is impelemented. Four typical wheels or three omni wheels are used to consist of the ball-bot. the slip is occured when the typical wheels is used to the ball-bot. In order to reduce these slip, the spherical wheeled robot with macanum wheels is proposed. Through some experiments, we find that the proposed spherical wheeled robot with a mecanum wheel is superior to the conventional spherical wheeled robot with typical wheels.
Keywords
ball robot; balancing control; PD control; inverted pendulum; mecanum wheel;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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