Ballbot
Sign in to savethumb|The CMU Ballbot, the first successful ballbot, built by Prof. Ralph Hollis (not in picture) at Carnegie Mellon University, USA in 2005 thumb|The BallIP, developed by Prof. Masaaki Kumagai at Tohoku Gakuin University, Japan in 2008 thumb|The Rezero developed at ETH Zurich, Switzerland in 2010 thumb|The Kugle ballbot developed at Aalborg University, Denmark in 2019 thumb|The CMU Ballbot with a pair of 2-degrees of freedom (mechanics)|DOF arms (2011). It is the first – and currently the only – ballbot with arms.
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~18 min read
Article
12 sectionsContents
- History
- Motivation and characteristics
- System description
- Major design parameters
- Ball and actuation
- Sensors
- Arms
- System modeling, planning and control
- Safety features
- Possible applications
- Notable Ballbot projects
- References
thumb|The CMU Ballbot, the first successful ballbot, built by Prof. Ralph Hollis (not in picture) at Carnegie Mellon University, USA in 2005 thumb|The BallIP, developed by Prof. Masaaki Kumagai at Tohoku Gakuin University, Japan in 2008 thumb|The Rezero developed at ETH Zurich, Switzerland in 2010 thumb|The Kugle ballbot developed at Aalborg University, Denmark in 2019 thumb|The CMU Ballbot with a pair of 2-degrees of freedom (mechanics)|DOF arms (2011). It is the first – and currently the only – ballbot with arms.
A ball balancing robot also known as a ballbot is a dynamically-stable mobile robot designed to balance on a single spherical wheel (i.e., a ball). Through its single contact point with the ground, a ballbot is omnidirectional and thus exceptionally agile, maneuverable and organic in motion compared to other ground vehicles. Its dynamic stability enables improved navigability in narrow, crowded and dynamic environments. The ballbot works on the same principle as that of an inverted pendulum.