First successful ballbot developed by CMU in 2005 by Ralph Hollis
Balances on single spherical wheel, enabling omnidirectional motion
Works on inverted pendulum principle for stability
Can handle disturbances and collisions with furniture
Key Developments
CMU Ballbot added two DOF arms in 2011, making it unique
BallIP project demonstrated load-carrying capabilities in 2008
Rezero project focused on fast and graceful motions
Kugle project developed in 2019 with LiDAR and tablet capabilities
Technical Aspects
Uses various actuation mechanisms including inverse mouse-ball drive
Requires sensors for ball and body orientation tracking
Employs linear feedback control for balance
Can plan motions in space of body lean angles
Applications and Limitations
Ideal for personal mobile robots and service applications
Currently limited to smooth surfaces
Can be used for entertainment and toys
Safety features include retractable landing legs and roll-over mechanisms
Yanıtı değerlendir
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